Monocular Visual Inertial Direct SLAM with Robust Scale Estimation for Ground Robots/Vehicles.
Bismaya SahooMohammad BiglarbegianWilliam MelekPublished in: Robotics (2021)
Keyphrases
- mobile robot
- egomotion estimation
- robust estimation
- visual slam
- road vehicles
- simultaneous localization and mapping
- robotic systems
- estimation error
- visual information
- scale space
- image sequences
- dynamic model
- real time
- dynamic environments
- visual odometry
- robust regression
- multiscale
- path planning
- pose estimation
- visual cues
- visual features
- mobile robotics
- multibody
- traffic scenes
- state space