Lighthouses and Global Graph Stabilization: Active SLAM for Low-compute, Narrow-FoV Robots.
Mohit DeshpandeRichard KimDhruva KumarJong Jin ParkJim ZamiskaPublished in: ICRA (2023)
Keyphrases
- mobile robot
- field of view
- simultaneous localization and mapping
- directed graph
- cooperative
- graph representation
- robotic systems
- bipartite graph
- graph structure
- weighted graph
- monocular slam
- single camera
- graph model
- indoor environments
- random walk
- multiple cameras
- graph theory
- autonomous robots
- dynamic environments
- mobile robotics
- global consistency
- particle filter
- multi robot
- graph mining
- graph matching
- structured data
- spanning tree
- global structure
- object and scene recognition