Fast and accurate relocalization for keyframe-based SLAM using geometric model selection.

Atsunori Moteki Nobuyasu Yamaguchi Ayu Karasudani Toshiyuki Yoshitake

Published 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