A Kinect-Based Front-End for Graph-SLAM Using Plane Matching in Planar Indoor Environments.
Zehui YuanStefano RosaLudovico Orlando RussoBasilio BonaPublished in: IAS (2014)
Keyphrases
- indoor environments
- mobile robot
- topological map
- graph matching
- simultaneous localization and mapping
- path planning
- monocular vision
- ground plane
- planar graphs
- image based localization
- indoor localization
- robotic systems
- laser range finder
- fall detection
- matching algorithm
- three dimensional
- spatial layout
- projective transformations
- bipartite graph
- curved surfaces
- navigation tasks
- image matching
- depth map
- outdoor environments
- feature points
- autonomous mobile robots
- real time
- computer vision
- dynamic environments
- pose estimation
- mobile robotics
- camera calibration