B-splines for Purely Vision-based Localization and Mapping on Non-holonomic Ground Vehicles.
Kun HuangYifu WangLaurent KneipPublished in: ICRA (2021)
Keyphrases
- b spline
- mobile robot
- loop closing
- control points
- ground vehicles
- visual landmarks
- basis functions
- path planning
- least squares
- curve fitting
- tensor product
- motion planning
- contour extraction
- deformation field
- real time
- piecewise polynomial
- cubic b spline
- simultaneous localization and mapping
- cubic spline
- free form deformation
- displacement field
- human computer interaction
- computer vision
- nonrigid registration
- spatially variant