Incremental Pose Map Optimization for Monocular Vision SLAM Based on Similarity Transformation.
Wenlei LiuSentang WuZhongbo WuXiaolong WuPublished in: Sensors (2019)
Keyphrases
- monocular vision
- indoor environments
- loop closure
- mobile robot
- simultaneous localization and mapping
- loop closing
- similarity measure
- map building
- pose estimation
- optimization problems
- path planning
- topological map
- semantic similarity
- incremental learning
- computer vision
- optimization algorithm
- optimization process
- maximum a posteriori
- data association
- optimization method
- d objects
- visual slam
- object recognition
- articulated objects
- pose recovery
- error accumulation
- mobile robotics
- distance metric