PIRF-Nav 2.0: Fast and online incremental appearance-based loop-closure detection in an indoor environment.
Aram KawewongNoppharit TongprasitOsamu HasegawaPublished in: Robotics Auton. Syst. (2011)
Keyphrases
- loop closure
- simultaneous localization and mapping
- indoor environments
- mobile robot
- outdoor environments
- monocular vision
- topological map
- path planning
- indoor localization
- robotic systems
- kalman filter
- map building
- fall detection
- real time
- mobile robotics
- dynamic environments
- particle filter
- object detection
- dynamic programming