Online global loop closure detection for large-scale multi-session graph-based SLAM.
Mathieu LabbéFrançois MichaudPublished in: IROS (2014)
Keyphrases
- loop closure
- simultaneous localization and mapping
- error accumulation
- bundle adjustment
- mobile robot
- outdoor environments
- map building
- kalman filter
- loop closing
- real world
- structure from motion
- dynamic environments
- object detection
- robot navigation
- mobile robotics
- real time
- visual tracking
- event detection
- indoor environments
- semi supervised
- state space