Combining Odometry and Visual Loop-Closure Detection for Consistent Topo-Metrical Mapping.
Stéphane BazeilleDavid FilliatPublished in: RAIRO Oper. Res. (2010)
Keyphrases
- d objects
- loop closure
- simultaneous localization and mapping
- map building
- multi view
- bundle adjustment
- error accumulation
- mobile robot
- outdoor environments
- robot navigation
- topological map
- particle filter
- data association
- dynamic environments
- visual odometry
- kalman filter
- loop closing
- real time
- indoor environments
- unknown environments
- path planning
- mobile robotics
- visual information
- structure from motion