ROPY-SLAM: a Heterogeneous CPU-FPGA System for Simultaneous Localization and Mapping.
Weiyi ZhangLiting NiuChaoyang DingYiyang WangFasih Ud Din FarrukhChun ZhangPublished in: ICTA (2022)
Keyphrases
- simultaneous localization and mapping
- mobile robot
- visual slam
- mobile robotics
- indoor environments
- kalman filter
- dynamic environments
- information filter
- extended kalman filter
- detection and tracking of moving objects
- particle filter
- data association
- loop closing
- robot navigation
- visual odometry
- outdoor environments
- topological map
- real time
- map building
- loop closure
- real robot
- multiple objects
- unscented kalman filter
- visual tracking