A hybrid approach to RBPF based SLAM with grid mapping enhanced by line matching.
Wei-Jen KuoShih-Huan TsengJia-Yuan YuLi-Chen FuPublished in: IROS (2009)
Keyphrases
- particle filter
- loop closure
- loop closing
- simultaneous localization and mapping
- mobile robot
- bayesian filtering
- semantic matching
- matching process
- indoor environments
- error accumulation
- graph matching
- shape matching
- schema matching
- dynamic environments
- dynamic programming
- pattern matching
- image matching
- grid computing
- sequential monte carlo
- proposal distribution
- grid points
- feature matching
- visual slam
- visual tracking
- semantic web