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Exploring The Effect of Meta-Structural Information on the Global Consistency of SLAM

Henein, Mina; Mahony, Robert


Accurate online estimation of the environment structure simultaneously with the robot pose is a key capability for autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms make no assumptions about the configuration of the points in the environment, however, real world scenes have significant structure (ground planes, buildings, walls, ceilings, etc..) that can be exploited. In this paper, we introduce meta-structural information associated with geometric...[Show more]

CollectionsANU Research Publications
Date published: 2017
Type: Conference paper
Source: IEEE International Conference on Intelligent Robots and Systems
DOI: 10.1109/IROS.2017.8205970
Access Rights: Open Access


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