CCM-SLAM: Robust and efficient centralized collaborative monocular simultaneous localization and mapping for robotic teams.
Patrik SchmuckMargarita ChliPublished in: J. Field Robotics (2019)
Keyphrases
- simultaneous localization and mapping
- mobile robot
- visual slam
- visual odometry
- dynamic environments
- kalman filter
- data association
- information filter
- mobile robotics
- extended kalman filter
- loop closing
- particle filter
- detection and tracking of moving objects
- indoor environments
- real time
- autonomous navigation
- map building
- robot navigation
- outdoor environments
- object and scene recognition
- real robot
- robotic systems
- real environment
- autonomous robots
- pose estimation
- ego motion
- monocular camera
- kalman filtering
- path planning
- data fusion
- image sequences