FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3200399229> ?p ?o ?g. }

• W3200399229 abstract "Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce consistent maps of an environment over time. Contrarily to urban or man-made environments, where the presence of unique objects and structures offer unique cues for localization, the appearance of unstructured natural environments is often ambiguous and self-similar, hindering the performances of loop closure detection. In this paper, we present an approach to improve the robustness of place recognition in the context of a submap-based stereo SLAM based on Gaussian Process Gradient Maps (GPGMaps). GPGMaps embed a continuous representation of the gradients of the local terrain elevation by means of Gaussian Process regression and Structured Kernel Interpolation, given solely noisy elevation measurements. We leverage the image-like structure of GPGMaps to detect loop closures using traditional visual features and Bag of Words. GPGMap matching is performed as an SE(2) alignment to establish loop closure constraints within a pose graph. We evaluate the proposed pipeline on a variety of datasets recorded on Mt. Etna, Sicily and in the Morocco desert, respectively Moon- and Mars-like environments, and we compare the localization performances with state-of-the-art approaches for visual SLAM and visual loop closure detection." @default.
• W3200399229 created "2021-09-27" @default.
• W3200399229 creator A5026935526 @default.
• W3200399229 creator A5050478468 @default.
• W3200399229 creator A5054326889 @default.
• W3200399229 creator A5054538696 @default.
• W3200399229 creator A5076463708 @default.
• W3200399229 creator A5086794522 @default.
• W3200399229 date "2021-09-14" @default.
• W3200399229 modified "2023-09-27" @default.
• W3200399229 title "GPGM-SLAM: a Robust SLAM System for Unstructured Planetary Environments with Gaussian Process Gradient Maps" @default.
• W3200399229 cites W1677409904 @default.
• W3200399229 cites W1746819321 @default.
• W3200399229 cites W177314305 @default.
• W3200399229 cites W1958259180 @default.
• W3200399229 cites W1968315983 @default.
• W3200399229 cites W1972485825 @default.
• W3200399229 cites W1989484209 @default.
• W3200399229 cites W2004197977 @default.
• W3200399229 cites W2016576289 @default.
• W3200399229 cites W2021851106 @default.
• W3200399229 cites W2024908906 @default.
• W3200399229 cites W2069635875 @default.
• W3200399229 cites W2080823437 @default.
• W3200399229 cites W2096877725 @default.
• W3200399229 cites W2100522187 @default.
• W3200399229 cites W2103393159 @default.
• W3200399229 cites W2103924867 @default.
• W3200399229 cites W2105977269 @default.
• W3200399229 cites W2110405746 @default.
• W3200399229 cites W2110729215 @default.
• W3200399229 cites W2115579991 @default.
• W3200399229 cites W2117228865 @default.
• W3200399229 cites W2117248802 @default.
• W3200399229 cites W2137052305 @default.
• W3200399229 cites W2144824356 @default.
• W3200399229 cites W2146881125 @default.
• W3200399229 cites W2151103935 @default.
• W3200399229 cites W2160821342 @default.
• W3200399229 cites W2161322375 @default.
• W3200399229 cites W2165468899 @default.
• W3200399229 cites W2296228853 @default.
• W3200399229 cites W2564361441 @default.
• W3200399229 cites W2737165983 @default.
• W3200399229 cites W2745859992 @default.
• W3200399229 cites W2750632489 @default.
• W3200399229 cites W2767694002 @default.
• W3200399229 cites W2768130891 @default.
• W3200399229 cites W2769509614 @default.
• W3200399229 cites W2772189859 @default.
• W3200399229 cites W2782807102 @default.
• W3200399229 cites W2783139685 @default.
• W3200399229 cites W2805652770 @default.
• W3200399229 cites W2892028890 @default.
• W3200399229 cites W2896711393 @default.
• W3200399229 cites W2902610326 @default.
• W3200399229 cites W2909908358 @default.
• W3200399229 cites W2910489334 @default.
• W3200399229 cites W2910614470 @default.
• W3200399229 cites W2913429812 @default.
• W3200399229 cites W2949644579 @default.
• W3200399229 cites W2962941098 @default.
• W3200399229 cites W2963046720 @default.
• W3200399229 cites W2965215408 @default.
• W3200399229 cites W2998917800 @default.
• W3200399229 cites W3004418007 @default.
• W3200399229 cites W3008827235 @default.
• W3200399229 cites W3012528573 @default.
• W3200399229 cites W3080178290 @default.
• W3200399229 cites W3082203263 @default.
• W3200399229 cites W3086305595 @default.
• W3200399229 cites W3102327032 @default.
• W3200399229 cites W3102734218 @default.
• W3200399229 cites W3107927871 @default.
• W3200399229 cites W3124420883 @default.
• W3200399229 cites W3136907960 @default.
• W3200399229 cites W3157225278 @default.
• W3200399229 cites W3171850432 @default.
• W3200399229 cites W357843181 @default.
• W3200399229 cites W612478963 @default.
• W3200399229 hasPublicationYear "2021" @default.
• W3200399229 type Work @default.
• W3200399229 sameAs 3200399229 @default.
• W3200399229 citedByCount "0" @default.
• W3200399229 crossrefType "posted-content" @default.
• W3200399229 hasAuthorship W3200399229A5026935526 @default.
• W3200399229 hasAuthorship W3200399229A5050478468 @default.
• W3200399229 hasAuthorship W3200399229A5054326889 @default.
• W3200399229 hasAuthorship W3200399229A5054538696 @default.
• W3200399229 hasAuthorship W3200399229A5076463708 @default.
• W3200399229 hasAuthorship W3200399229A5086794522 @default.
• W3200399229 hasConcept C104317684 @default.
• W3200399229 hasConcept C153083717 @default.
• W3200399229 hasConcept C154945302 @default.
• W3200399229 hasConcept C157286648 @default.
• W3200399229 hasConcept C185592680 @default.
• W3200399229 hasConcept C19966478 @default.
• W3200399229 hasConcept C206833254 @default.
• W3200399229 hasConcept C31972630 @default.
• W3200399229 hasConcept C41008148 @default.

• next