A loop closure technique for monocular SLAM with locally planar landmarks.
Alchan YoonJunghyun KwonFrank C. ParkPublished in: URAI (2013)
Keyphrases
- monocular slam
- loop closure
- bundle adjustment
- simultaneous localization and mapping
- visual slam
- single camera
- structure from motion
- dynamic environments
- mobile robot
- multi view
- camera motion
- camera parameters
- least squares
- point correspondences
- kalman filter
- indoor environments
- particle filter
- ground plane
- maximum likelihood
- real time
- camera calibration
- mobile robotics
- data association
- error accumulation
- field of view
- missing data
- robot navigation
- reinforcement learning
- computer vision