CudaSIFT-SLAM: multiple-map visual SLAM for full procedure mapping in real human endoscopy.
Richard ElviraJuan D. TardósJosé M. M. MontielPublished in: CoRR (2024)
Keyphrases
- visual slam
- simultaneous localization and mapping
- loop closing
- monocular slam
- dynamic environments
- real time
- mobile robot
- loop closure
- bundle adjustment
- camera motion
- monocular camera
- particle filter
- real environment
- kalman filter
- indoor environments
- extended kalman filter
- data association
- mobile robotics
- robot navigation
- multiple objects
- structure from motion
- single camera
- stereo rig
- multi view
- optical flow