A New Approach for Large-Scale Localization and Mapping: Hybrid Metric-Topological SLAM.
José-Luis BlancoJuan-Antonio Fernández-MadrigalJavier GonzalezPublished in: ICRA (2007)
Keyphrases
- loop closing
- topological map
- simultaneous localization and mapping
- mobile robot
- robot navigation
- indoor environments
- map building
- robot localization
- small scale
- real life
- particle filter
- topological features
- mobile robotics
- real world
- kalman filter
- dynamic environments
- data association
- autonomous navigation
- metric space
- loop closure
- topological properties
- mean shift
- distance measure
- visual slam
- real time