ULSM: Underground Localization and Semantic Mapping with Salient Region Loop Closure under Perceptually-Degraded Environment
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS)（2022）
关键词
applying SLAM,human-made tunnels,map-building,mapping scheme,mine tunnels,odometry estimation,perceptually-degraded environment,recurring sensor failures,salient region loop closure detection,semantic mapping,sensor-failure situations,spurious loop closures,Tunnel Circuit,two-stage robust motion compensation method,ULSM,underground environments,underground localization
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