A speeded-up online incremental vision-based loop-closure detection for long-term SLAM.
Aram KawewongNoppharit TongprasitOsamu HasegawaPublished in: Adv. Robotics (2013)
Keyphrases
- loop closure
- long term
- simultaneous localization and mapping
- error accumulation
- bundle adjustment
- outdoor environments
- mobile robot
- real time
- vision system
- augmented reality
- kalman filter
- human computer interaction
- mobile robotics
- loop closing
- surveillance system
- unknown environments
- indoor environments
- dynamic environments
- particle filter
- computer vision