A review of point cloud registration algorithms for mobile robotics
The topic of this review is geometric registration in robotics. Registration algorithms
associate sets of data into a common coordinate system. They have been used extensively …
associate sets of data into a common coordinate system. They have been used extensively …
Active map** and robot exploration: A survey
Simultaneous localization and map** responds to the problem of building a map of the
environment without any prior information and based on the data obtained from one or more …
environment without any prior information and based on the data obtained from one or more …
Past, present, and future of simultaneous localization and map**: Toward the robust-perception age
Simultaneous localization and map** (SLAM) consists in the concurrent construction of a
model of the environment (the map), and the estimation of the state of the robot moving …
model of the environment (the map), and the estimation of the state of the robot moving …
Visual place recognition: A survey
Visual place recognition is a challenging problem due to the vast range of ways in which the
appearance of real-world places can vary. In recent years, improvements in visual sensing …
appearance of real-world places can vary. In recent years, improvements in visual sensing …
Robust reconstruction of indoor scenes
We present an approach to indoor scene reconstruction from RGB-D video. The key idea is
to combine geometric registration of scene fragments with robust global optimization based …
to combine geometric registration of scene fragments with robust global optimization based …
iSAM2: Incremental smoothing and map** using the Bayes tree
We present a novel data structure, the Bayes tree, that provides an algorithmic foundation
enabling a better understanding of existing graphical model inference algorithms and their …
enabling a better understanding of existing graphical model inference algorithms and their …
Online global loop closure detection for large-scale multi-session graph-based SLAM
For large-scale and long-term simultaneous localization and map** (SLAM), a robot has
to deal with unknown initial positioning caused by either the kidnapped robot problem or …
to deal with unknown initial positioning caused by either the kidnapped robot problem or …
maplab: An open framework for research in visual-inertial map** and localization
Robust and accurate visual-inertial estimation is crucial to many of today's challenges in
robotics. Being able to localize against a prior map and obtain accurate and drift-free pose …
robotics. Being able to localize against a prior map and obtain accurate and drift-free pose …
Simultaneous localization and map**: part I
This paper describes the simultaneous localization and map** (SLAM) problem and the
essential methods for solving the SLAM problem and summarizes key implementations and …
essential methods for solving the SLAM problem and summarizes key implementations and …
Simultaneous localization and map** (SLAM): Part II
This paper discusses the recursive Bayesian formulation of the simultaneous localization
and map** (SLAM) problem in which probability distributions or estimates of absolute or …
and map** (SLAM) problem in which probability distributions or estimates of absolute or …