Gaussian Process Gradient Maps for Loop-Closure Detection in Unstructured Planetary Environments.
Cedric Le GentilMallikarjuna VayugundlaRiccardo GiubilatoWolfgang StürzlTeresa A. Vidal-CallejaRudolph TriebelPublished in: IROS (2020)
Keyphrases
- gaussian process
- loop closure
- gaussian processes
- bayesian framework
- model selection
- regression model
- latent variables
- semi supervised
- hyperparameters
- map building
- object detection
- error accumulation
- mobile robot
- closed form
- bundle adjustment
- support vector
- simultaneous localization and mapping
- motion estimation
- robotic systems
- image sequences
- missing values
- dynamic environments