Scan-matching Based 6DOF SLAM Using Omnidirectional Stereo.
Hiroshi KoyasuHitoshi MaekawaHiroshi KawasakiShintaro OnoKatsushi IkeuchiPublished in: MVA (2013)
Keyphrases
- mobile robot
- stereo vision
- vision sensor
- simultaneous localization and mapping
- stereo matching algorithm
- matching algorithm
- disparity map
- path planning
- feature matching
- stereo correspondence
- graph matching
- vision system
- occlusion detection
- matching process
- matching cost
- stereo matching
- keypoints
- three dimensional
- computer vision
- disparity space
- real time
- omnidirectional cameras
- multi camera
- stereo images
- particle filter
- stereo reconstruction
- degrees of freedom
- pose estimation
- stereo camera
- stereo pair
- image correspondences
- omni directional
- robotic arm
- omnidirectional images
- single camera