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Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure.
Milad Ramezani
Georgi Tinchev
Egor Iuganov
Maurice F. Fallon
Published in:
ICRA (2020)
Keyphrases
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loop closure
simultaneous localization and mapping
point cloud
legged robots
error accumulation
mobile robot
bundle adjustment
real time
loop closing
indoor environments
mobile robotics
outdoor environments
data association
particle filter
least squares
learning algorithm
map building