A novel loop closure detection method in monocular SLAM.
Zhiwei LiangXiang GaoYanyan ChenSonghao ZhuPublished in: Intell. Serv. Robotics (2013)
Keyphrases
- detection method
- monocular slam
- loop closure
- bundle adjustment
- simultaneous localization and mapping
- visual slam
- structure from motion
- mobile robot
- single camera
- detection algorithm
- least squares
- camera motion
- dynamic environments
- multi view
- particle filter
- camera parameters
- indoor environments
- kalman filter
- data association
- mobile robotics
- point correspondences
- maximum likelihood
- robot navigation
- event detection
- visual tracking
- closed form
- camera calibration
- data fusion
- state space
- viewpoint