Highly scalable appearance-only SLAM - FAB-MAP 2.0.
Mark CumminsPaul NewmanPublished in: Robotics: Science and Systems (2009)
Keyphrases
- highly scalable
- loop closure
- loop closing
- mobile robot
- map building
- simultaneous localization and mapping
- error accumulation
- web caching
- appearance model
- data partitioning
- robot moves
- robot navigation
- data association
- maximum a posteriori
- dynamic environments
- appearance features
- indoor environments
- appearance cues
- object detection