ULSM: Underground Localization and Semantic Mapping with Salient Region Loop Closure under Perceptually-Degraded Environment.
Junhui WangBin TianRui ZhangLong ChenPublished in: IROS (2022)
Keyphrases
- semantic mapping
- salient regions
- map building
- mobile robot
- real time
- dynamic environments
- robot navigation
- mobile robotics
- object recognition
- domain knowledge
- description logics
- saliency map
- text classification
- loop closure
- semantic integration
- simultaneous localization and mapping
- text mining
- relational databases
- image retrieval
- knowledge base
- search engine