Plane-Edge-SLAM: Seamless Fusion of Planes and Edges for SLAM in Indoor Environments.
Qinxuan SunJing YuanXuebo ZhangFeng DuanPublished in: IEEE Trans Autom. Sci. Eng. (2021)
Keyphrases
- indoor environments
- simultaneous localization and mapping
- mobile robot
- edge segments
- path planning
- edge detector
- edge information
- monocular vision
- indoor localization
- edge map
- laser range finder
- piecewise planar
- robotic systems
- three dimensional
- pose estimation
- navigation tasks
- edge detection
- step edges
- autonomous mobile robots
- weighted graph
- outdoor environments
- undirected graph
- fall detection
- spatial layout
- data association
- autonomous robots
- edge direction
- image planes
- real time
- state space