Cluster-based loop closing detection for underwater slam in feature-poor regions.

Pep Lluis Negre Francisco Bonin-Font Gabriel Oliver

Published in: ICRA (2016)

Keyphrases

loop closing
simultaneous localization and mapping
mobile robot
image features
loop closure
topological map
object detection
dynamic environments
kalman filter
mobile robotics
visual odometry
map building
computer vision
input image
particle filter
visual tracking
data association