Mapping with Graph-based SLAM using Wall Detection and Floor Plan Constraints.
Masahiko HoshiYoshitaka HaraSousuke NakamuraPublished in: SII (2022)
Keyphrases
- loop closure
- automatic detection
- detection algorithm
- loop closing
- detection accuracy
- false positives
- detection method
- object detection
- particle filter
- linear constraints
- mobile robot
- constraint programming
- detection rate
- constrained optimization
- indoor environments
- global constraints
- co occurrence
- geometric constraints
- plan recognition
- plan generation
- real time