Hybrid Semi-Dense 3D Semantic-Topological Mapping From Stereo Visual-Inertial Odometry SLAM With Loop Closure Detection.
Shuhuan WenYanfang ZhaoXin LiuFuchun SunHuibin LuZhe WangPublished in: IEEE Trans. Veh. Technol. (2020)
Keyphrases
- loop closure
- simultaneous localization and mapping
- kalman filter
- visual odometry
- mobile robot
- map building
- topological map
- dynamic environments
- loop closing
- particle filter
- error accumulation
- data association
- robot navigation
- mobile robotics
- outdoor environments
- indoor environments
- inertial sensors
- bundle adjustment
- unknown environments
- computer vision
- visual information
- path planning
- three dimensional
- multi robot
- real environment
- visual tracking
- multi view
- real time
- stereo pair
- robotic systems
- object tracking
- camera motion