Occupancy Grid Map Estimation Based on Visual SLAM and Ground Segmentation.
Mirella Pessoa de MeloLucas F. S. CambuimEdna BarrosPublished in: LARS/SBR/WRE (2021)
Keyphrases
- map estimation
- visual slam
- maximum a posteriori
- markov random field
- maximum likelihood
- multibody
- energy function
- level set
- image segmentation
- real time
- dynamic environments
- motion segmentation
- bundle adjustment
- noisy images
- multiscale
- monocular camera
- em algorithm
- shape prior
- image reconstruction
- clustering algorithm
- expectation maximization
- feature vectors
- disparity map