A LiDAR/Visual SLAM Backend with Loop Closure Detection and Graph Optimization.
Shoubin ChenBaoding ZhouChanghui JiangWeixing XueQingquan LiPublished in: Remote. Sens. (2021)
Keyphrases
- back end
- loop closure
- visual slam
- simultaneous localization and mapping
- bundle adjustment
- mobile robot
- user friendly
- indoor environments
- data association
- data management
- error accumulation
- data types
- structure from motion
- building blocks
- kalman filter
- dynamic environments
- object detection
- mobile robotics
- high resolution
- real environment
- point correspondences
- robot navigation
- point cloud
- particle filter
- three dimensional
- path planning
- camera motion
- object recognition