Rapid Relocation Method for Mobile Robot Based on Improved ORB-SLAM2 Algorithm.
Guanci YangZhanjie ChenYang LiZhidong SuPublished in: Remote. Sens. (2019)
Keyphrases
- improved algorithm
- mobile robot
- cost function
- computational cost
- high accuracy
- preprocessing
- experimental evaluation
- optimization algorithm
- detection algorithm
- segmentation algorithm
- objective function
- computationally efficient
- detection method
- dynamic programming
- synthetic and real images
- significant improvement
- recognition algorithm
- classification method
- theoretical analysis
- support vector machine svm
- clustering method
- k means
- computational complexity
- classification algorithm
- estimation algorithm
- energy function
- segmentation method
- optimization method
- reconstruction method
- em algorithm
- input data
- support vector machine
- search space
- path planning
- convergence rate
- expectation maximization
- matching algorithm
- selection algorithm
- unknown environments
- learning algorithm
- visual slam
- kalman filter
- particle filter
- probabilistic model
- similarity measure
- dynamic environments
- graph cuts
- multi robot
- maximum likelihood
- indoor environments
- markov random field
- simultaneous localization and mapping
- np hard
- error accumulation