A High-Precision SLAM System Based on Lidar, IMU and Wheel Encoders.
Daoding HongWei ZhaoQiyun ShenZengxiang ZhouCongcong DuPublished in: RICAI (2023)
Keyphrases
- high precision
- high recall
- simultaneous localization and mapping
- mobile robot
- inertial measurement unit
- visual odometry
- visual slam
- monocular slam
- absolute position
- monocular camera
- point cloud
- indoor environments
- high reliability
- mobile robotics
- video compression
- lidar data
- urban areas
- data association
- high resolution
- achieve high precision
- real time
- dynamic environments
- kalman filter
- loop closing
- high accuracy
- aerial imagery
- wheeled mobile robots
- augmented reality
- camera tracking
- motion estimation
- bundle adjustment