Multi-Level Surface Maps for Outdoor Terrain Mapping and Loop Closing.
Rudolph TriebelPatrick PfaffWolfram BurgardPublished in: IROS (2006)
Keyphrases
- loop closing
- mobile robot
- outdoor environments
- topological map
- simultaneous localization and mapping
- three dimensional
- terrain modeling
- indoor environments
- map building
- robot navigation
- kalman filter
- dynamic environments
- d objects
- multiresolution
- range data
- loop closure
- robotic systems
- mobile robotics
- autonomous navigation
- data association
- particle filter
- ground vehicles
- computer vision