High Precision Vehicle Localization based on Tightly-coupled Visual Odometry and Vector HD Map.
Tuopu WenZhongyang XiaoBenny WijayaKun JiangMengmeng YangDiange YangPublished in: IV (2020)
Keyphrases
- high precision
- tightly coupled
- visual odometry
- loop closing
- simultaneous localization and mapping
- position information
- high recall
- fine grained
- loosely coupled
- mobile robot
- autonomous navigation
- general purpose
- long range
- ego motion
- kalman filter
- real time
- particle filter
- real environment
- kalman filtering
- high accuracy
- extended kalman filter
- data association
- dynamic environments
- depth images
- range data
- precision and recall
- video sequences