Robotic Forceps without Position Sensors using Visual SLAM.
Takuya IwaiTakahiro KannoTetsuro MiyazakiToshihiro KawaseKenji KawashimaPublished in: ICRA (2019)
Keyphrases
- computer vision
- visual slam
- real time
- monocular camera
- dynamic environments
- position and orientation
- inertial sensors
- structure from motion
- bundle adjustment
- object recognition
- camera motion
- pose estimation
- optical flow
- object tracking
- vision system
- mobile robot
- position information
- multi sensor
- human operators
- feature tracking
- robotic systems
- camera calibration
- geometric properties
- simultaneous localization and mapping
- least squares
- stereo rig