Rapid Relocation Method for Mobile Robot Based on Improved ORB-SLAM2 Algorithm.

Guanci Yang Zhanjie Chen Yang Li Zhidong Su

Published 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