Clustering Based Loop Closure Technique for 2D Robot Mapping Based on EKF-SLAM.
Ankit A. RavankarYukinori KobayashiTakanori EmaruPublished in: Asia International Conference on Modelling and Simulation (2013)
Keyphrases
- simultaneous localization and mapping
- loop closure
- mobile robot
- loop closing
- extended kalman filter
- perceptual aliasing
- kalman filter
- visual slam
- mobile robotics
- particle filter
- dynamic environments
- data association
- indoor environments
- map building
- unknown environments
- monocular slam
- outdoor environments
- robot navigation
- robot moves
- path planning
- visual odometry
- real environment
- multi robot
- object tracking
- obstacle avoidance
- three dimensional