Graph SLAM Built over Point Clouds Matching for Robot Localization in Tunnels.
Carlos Prados SesmeroSergio Villanueva LorenteMario Di CastroPublished in: Sensors (2021)
Keyphrases
- point cloud
- robot localization
- simultaneous localization and mapping
- mobile robot
- topological map
- icp algorithm
- surface reconstruction
- robot navigation
- structure from motion
- indoor environments
- dynamic environments
- point sets
- object recognition
- mobile robotics
- particle filter
- point cloud data
- data association
- kalman filter
- stereo camera
- visual odometry
- feature points
- pairwise
- autonomous robots
- hough transform
- viewpoint
- image sequences
- computer vision