Visual-Inertial Localization With Prior LiDAR Map Constraints.
Xingxing ZuoPatrick GenevaYulin YangWenlong YeYong LiuGuoquan HuangPublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- maximum a posteriori
- visual features
- visual information
- constrained optimization
- high resolution
- loop closing
- map building
- linear constraints
- neural network
- visual perception
- spatial relations
- monte carlo localization
- accurate localization
- inertial sensors
- visual cues
- visual data
- dynamic model
- point cloud
- constraint satisfaction
- markov random field
- mobile robot
- prior knowledge
- video sequences