Capping computation time and storage requirements for appearance-based localization with CAT-SLAM.
William P. MaddernMichael MilfordGordon F. WyethPublished in: ICRA (2012)
Keyphrases
- storage requirements
- simultaneous localization and mapping
- robot localization
- mobile robot
- computational cost
- memory requirements
- high computational complexity
- map building
- indoor environments
- significantly reduced
- computational complexity
- loop closing
- dynamic environments
- data association
- robot navigation
- kalman filter
- simultaneous localization and map building
- compression rate
- mobile robotics
- visual odometry
- path planning
- visual slam
- object detection