Probabilistic Sonar Scan Matching for Robust Localization.
Antoni BurgueraYolanda González CidGabriel OliverPublished in: ICRA (2007)
Keyphrases
- localization method
- scale and rotation invariant
- matching algorithm
- accurate localization
- mobile robot
- image based localization
- computationally efficient
- graph matching
- bayesian networks
- pattern matching
- image matching
- feature matching
- mobile robot localization
- generalized hough transform
- outlier rejection
- wide baseline matching
- matching process
- autonomous underwater vehicle
- sonar images
- localization algorithm
- object localization
- shape matching
- uncertain data
- partial occlusion
- conditional probabilities
- d objects
- object recognition
- multiscale