Scale-aware camera localization in 3D LiDAR maps with a monocular visual odometry.
Manhui SunShaowu YangHenzhu LiuPublished in: Comput. Animat. Virtual Worlds (2019)
Keyphrases
- visual odometry
- simultaneous localization and mapping
- ego motion
- position information
- inertial measurement unit
- autonomous navigation
- long range
- camera pose
- field of view
- mobile robot
- kalman filtering
- dynamic environments
- kalman filter
- camera motion
- real time
- depth images
- optical flow
- high resolution
- stereo camera
- d scene
- image sequences
- structure from motion
- indoor environments
- camera parameters
- mobile robotics
- data association
- single camera
- focal length
- point cloud
- pose estimation
- particle filter
- urban areas
- bundle adjustment
- multi camera
- surveillance system
- range data
- extended kalman filter
- computer vision