C-TM: Topo-metric Mapping and Localization based on Place Categorization and Place Recognition for a Delivery Robot on Footpath.
Timothy ChiaJun ZhangHeshan LiGuohao PengMingxing WenDawei KeeP. G. C. N. SenarathnePublished in: ICARCV (2022)
Keyphrases
- loop closing
- mobile robot
- topological map
- simultaneous localization and mapping
- robot localization
- robot navigation
- map building
- autonomous robots
- monte carlo localization
- image categorization
- metric space
- multi robot
- mobile robot localization
- text categorization
- visual landmarks
- human robot interaction
- robotic systems
- indoor environments
- distance measure
- multi dimensional scaling
- rao blackwellized particle filter
- similarity metric
- path planning
- distance metric
- dynamic environments
- vision system
- obstacle avoidance
- mobile robotics
- position and orientation
- service robots
- motion planning
- metric learning
- humanoid robot
- experimental platform
- feature selection