Data-Driven Batch Localization and SLAM Using Koopman Linearization.
Zi Cong GuoFrederike DümbgenJames Richard ForbesTimothy D. BarfootPublished in: CoRR (2023)
Keyphrases
- data driven
- simultaneous localization and mapping
- mobile robot
- loop closing
- map building
- particle filter
- simultaneous localization and map building
- mobile robotics
- robot navigation
- kalman filter
- dynamic environments
- indoor environments
- robot localization
- data association
- visual odometry
- visual slam
- real environment
- batch size
- monocular slam
- real time
- path planning
- topological map
- quality prediction
- learning algorithm
- data sets