A Novel Measure of Uncertainty for Mobile Robot SLAM with Rao - Blackwellized Particle Filters.
José-Luis BlancoJuan-Antonio Fernández-MadrigalJavier GonzálezPublished in: Int. J. Robotics Res. (2008)
Keyphrases
- mobile robot
- simultaneous localization and mapping
- mobile robotics
- indoor environments
- unknown environments
- visual slam
- loop closing
- map building
- path planning
- dynamic environments
- obstacle avoidance
- visual odometry
- robot localization
- kalman filter
- mobile robot navigation
- motion control
- simultaneous localization and map building
- autonomous robots
- distance measure
- data association
- autonomous navigation
- topological map
- outdoor environments
- similarity measure
- multi robot
- particle filter
- office environment
- uncertain data
- decision theory
- image processing
- multiscale
- wavelet transform
- probability measures
- motion planning
- real robot