Pose-Graph SLAM Using Forward-Looking Sonar.
Jie LiMichael KaessRyan M. EusticeMatthew Johnson-RobersonPublished in: IEEE Robotics Autom. Lett. (2018)
Keyphrases
- mobile robot
- graph representation
- random walk
- pose estimation
- connected components
- simultaneous localization and mapping
- structured data
- directed graph
- mobile robotics
- graph theory
- graph structure
- graph theoretic
- indoor environments
- graph model
- topological map
- pose recovery
- weighted graph
- graph matching
- spanning tree
- high resolution
- pose variations
- partial occlusion
- dynamic environments
- particle filter
- visual slam
- sonar images