Visual odometry priors for robust EKF-SLAM.
Pablo Fernández AlcantarillaLuis Miguel BergasaFrank DellaertPublished in: ICRA (2010)
Keyphrases
- visual odometry
- simultaneous localization and mapping
- extended kalman filter
- kalman filtering
- monocular camera
- mobile robot
- dynamic environments
- autonomous navigation
- kalman filter
- long range
- ego motion
- particle filter
- data association
- mobile robotics
- monocular slam
- indoor environments
- depth images
- robot navigation
- robust estimation
- path planning
- optical flow
- real environment
- object tracking
- target tracking
- single camera
- motion blur
- position information
- computer vision
- real time