Indoor SLAM based on composite sensor mixing laser scans and omnidirectional images.
Gabriela GallegosPatrick RivesPublished in: ICRA (2010)
Keyphrases
- laser scanner
- omnidirectional images
- omnidirectional vision
- point cloud
- indoor environments
- structure from motion
- perspective images
- panoramic images
- mobile robot
- high resolution
- grayscale images
- stereo camera
- simultaneous localization and mapping
- optical flow estimation
- bundle adjustment
- feature matching
- point matching
- image sequences
- camera motion
- particle filter
- optical flow
- three dimensional
- color information