Real-Time Visual SLAM Using FastSLAM and the Microsoft Kinect Camera.
Jan HartmannDariush ForouherMarek LitzaJan Helge KlüssendorffErik MaehlePublished in: ROBOTIK (2012)
Keyphrases
- visual slam
- real time
- microsoft kinect
- depth cameras
- monocular camera
- simultaneous localization and mapping
- depth information
- camera motion
- depth data
- visual odometry
- dynamic environments
- mobile robot
- bundle adjustment
- structure from motion
- gesture recognition
- ground plane
- inertial sensors
- depth images
- depth map
- data association
- human body
- mobile robotics
- camera calibration
- vision system
- field of view
- pose estimation
- motion capture
- particle filter
- camera parameters
- state space