Occupancy Grid Map to Pose Graph-based Map: Robust BIM-based 2D-LiDAR Localization for Lifelong Indoor Navigation in Changing and Dynamic Environments.
Miguel Arturo Vega TorresAlexander BraunAndré BorrmannPublished in: CoRR (2023)
Keyphrases
- dynamic environments
- maximum a posteriori
- changing environment
- simultaneous localization and mapping
- mobile robot
- robot localization
- robot navigation
- map building
- loop closing
- user interface
- loop closure
- mobile robot localization
- localization method
- belief space
- collision avoidance
- agent systems
- multi robot
- partial occlusion
- path planning
- pose estimation