Panoramic annular SLAM with loop closure and global optimization.
Hao ChenWeijian HuKailun YangJian BaiKaiwei WangPublished in: CoRR (2021)
Keyphrases
- global optimization
- loop closure
- simultaneous localization and mapping
- error accumulation
- bundle adjustment
- outdoor environments
- loop closing
- virtual reality
- particle swarm optimization
- mobile robot
- stereo vision
- field of view
- kalman filter
- particle filter
- dynamic environments
- map building
- unknown environments
- data association
- constrained global optimization
- d scene
- structure from motion
- mobile robotics
- vision system
- computer vision
- indoor environments
- stereo images
- topological map
- camera motion
- least squares
- dynamic programming
- high resolution