Semantically Assisted Loop Closure in SLAM Using NDT Histograms.
Anestis ZaganidisAlexandros ZerntevTom DuckettGrzegorz CielniakPublished in: IROS (2019)
Keyphrases
- loop closure
- simultaneous localization and mapping
- error accumulation
- bundle adjustment
- outdoor environments
- loop closing
- mobile robot
- particle filter
- map building
- kalman filter
- indoor environments
- robot navigation
- mobile robotics
- dynamic environments
- data association
- structure from motion
- path planning
- augmented reality
- multi view
- video sequences