GPU accelerated graph SLAM and occupancy voxel based ICP for encoder-free mobile robots.
Adrian RatterClaude SammutMatthew McGillPublished in: IROS (2013)
Keyphrases
- mobile robot
- gpu accelerated
- simultaneous localization and mapping
- mobile robotics
- indoor environments
- connected components
- topological map
- real time
- dynamic environments
- path planning
- finite element
- autonomous navigation
- autonomous robots
- obstacle avoidance
- simultaneous localization and map building
- unknown environments
- map building
- bit rate
- rate distortion
- loop closing
- multi robot
- robotic systems
- pairwise
- real robot
- shape representation
- range images