A pose graph-based localization system for long-term navigation in CAD floor plans.
Federico BoniardiTim CaselitzRainer KümmerleWolfram BurgardPublished in: Robotics Auton. Syst. (2019)
Keyphrases
- long term
- short term
- pose estimation
- computer aided design
- computer aided
- planning process
- d objects
- plan execution
- indoor environments
- plan recognition
- autonomous underwater vehicle
- semi supervised
- design process
- position and orientation
- dead reckoning
- localization algorithm
- object localization
- graph model
- feature extraction
- graph theoretic
- plan generation
- object recognition
- computer graphics
- cad model
- head pose estimation
- navigation systems
- state space
- simultaneous localization and mapping
- object oriented
- partially ordered
- human pose
- action recognition