Fast Relocalization and Loop Closing in Keyframe-Based 3D LiDAR SLAM.
Yunge CuiQingxiao WuYingming HaoYanzi KongZhiyuan LinFeng ZhuPublished in: ROBIO (2022)
Keyphrases
- loop closing
- simultaneous localization and mapping
- loop closure
- monocular slam
- mobile robot
- visual slam
- point cloud
- particle filter
- error accumulation
- dynamic environments
- kalman filter
- indoor environments
- topological map
- high resolution
- visual odometry
- mobile robotics
- urban areas
- bundle adjustment
- robot navigation
- outdoor environments
- map building
- path planning
- data association
- computer vision
- video frames
- multi view