Improved Simultaneous Localization and Mapping using a Dual Representation of the Environment.
Kai M. WurmCyrill StachnissGiorgio GrisettiWolfram BurgardPublished in: EMCR (2007)
Keyphrases
- simultaneous localization and mapping
- mobile robot
- information filter
- visual slam
- mobile robotics
- kalman filter
- data association
- detection and tracking of moving objects
- indoor environments
- object and scene recognition
- visual odometry
- particle filter
- search algorithm
- extended kalman filter
- loop closing
- human body
- learning algorithm