Exploration with Global Consistency Using Real-Time Re-integration and Active Loop Closure
Yichen Zhang,Boyu Zhou,Luqi Wang,Shaojie Shen,Yichen Zhang,Boyu Zhou,Luqi Wang,Shaojie Shen
Despite recent progress of robotic exploration, most methods assume that drift-free localization is available, which is problematic in reality and causes severe distortion of the reconstructed map. In this work, we present a systematic exploration mapping and planning framework that deals with drifted localization, allowing efficient and globally consistent reconstruction. A real-time re-integrati...
