TC$^{2}$LI-SLAM: A Tightly-Coupled Camera-LiDAR-Inertial SLAM System.
Yunze TongXuebo ZhangRunhua WangZhixing SongSongyang WuShiyong ZhangYouwei WangJing YuanPublished in: IEEE Robotics Autom. Lett. (2024)
Keyphrases
- tightly coupled
- monocular slam
- simultaneous localization and mapping
- camera tracking
- visual slam
- mobile robot
- single camera
- fine grained
- loosely coupled
- indoor environments
- general purpose
- data association
- robot moves
- hand held
- dynamic environments
- mobile robotics
- outdoor environments
- bundle adjustment
- augmented reality
- point cloud
- kalman filter
- camera motion
- particle filter
- laser range sensor
- focal length
- field of view
- structure from motion
- real time
- visual odometry
- inertial sensors
- multiple cameras
- video camera
- loop closing
- distributed systems
- high level