Inspec keywords: feature extraction; Monte Carlo methods; robot vision; SLAM (robots); mobile robots; cameras

Other keywords: scene extraction; internal odometry; Monte-Carlo algorithm; loop closure; indoor environment; mobile robot; global appearance descriptor; appearance-based approach; hybrid metric-topological simultaneous localisation and mapping; omnidirectional camera; position estimation

Subjects: Monte Carlo methods; Image sensors; Image recognition; Computer vision and image processing techniques; Monte Carlo methods; Mobile robots