Delayed resampling in a Rao-Blackwellized particle filtering SLAM for consistent loop closures.
Chanki KimWan Kyun ChungPublished in: IROS (2008)
Keyphrases
- simultaneous localization and mapping
- bayesian filtering
- mobile robot
- visual slam
- dynamic environments
- mobile robotics
- indoor environments
- kalman filter
- filtering algorithm
- particle filter
- loop closing
- robot navigation
- data association
- image filtering
- visual odometry
- map building
- median filter
- information filtering
- noise reduction
- filtering method
- real environment
- topological map
- path planning
- image processing
- real time