360ST-Mapping: An Online Semantics-Guided Topological Mapping Module for Omnidirectional Visual SLAM
Hongji Liu,Huajian Huang,Sai-Kit Yeung,Ming Liu,Hongji Liu,Huajian Huang,Sai-Kit Yeung,Ming Liu
As an abstract representation of the environment structure, a topological map has advantageous properties for path-planning and navigation. Here we proposed an online topological mapping method, 360ST-Mapping, using omnidirectional vision. The 360° field-of-view allows the agent to obtain consistent observation and incrementally extract topological environment information. Moreover, we leverage se...
