Andrej Kitanov

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Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot’s environment is represented by a topological map consisting of local models, each representing a particular location modeled by a set of planar surface segments. The discussed localization approach segments a depth image acquired by a 3D(More)
In this paper we present an active SLAM solution with an active loop closing component which is independent on exploration component and at the same time allows high accuracy robot’s pose estimation and complete environment mapping. Inputs to our SLAM algorithm are RGBD image from the Kinect sensor and odometry estimates obtained from inertial measurement(More)
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