Towards introspective loop closure in 4D radar SLAM.
Maximilian HilgerVladimír KubelkaDaniel AdolfssonHenrik AndreassonAchim J. LilienthalPublished in: CoRR (2024)
Keyphrases
- loop closure
- simultaneous localization and mapping
- error accumulation
- bundle adjustment
- outdoor environments
- mobile robot
- loop closing
- signal processing
- dynamic environments
- mobile robotics
- structure from motion
- particle filter
- surveillance system
- data association
- indoor environments
- kalman filter
- unknown environments
- robot navigation
- point correspondences
- map building