A multi-hypothesis topological SLAM approach for loop closing on edge-ordered graphs.

Stephen Tully George Kantor Howie Choset Felix Werner

Published in: IROS (2009)

Keyphrases

loop closing
topological map
mobile robot
simultaneous localization and mapping
weighted graph
indoor environments
undirected graph
robot navigation
edge detection
dynamic environments
particle filter
data association
mobile robotics
autonomous navigation
visual tracking