Fast and accurate relocalization for keyframe-based SLAM using geometric model selection.
Atsunori MotekiNobuyasu YamaguchiAyu KarasudaniToshiyuki YoshitakePublished in: VR (2016)
Keyphrases
- model selection
- cross validation
- hyperparameters
- monocular slam
- bayesian learning
- mobile robot
- parameter estimation
- statistical inference
- sample size
- feature selection
- variable selection
- regression model
- mixture model
- motion segmentation
- machine learning
- generalization error
- bayesian methods
- statistical learning
- gaussian process
- model selection criteria
- automatic model selection
- selection criterion
- feature vectors
- simultaneous localization and mapping
- error estimation
- bayesian information criterion
- posterior distribution
- active learning