Drift-Aware Monocular Localization Based on a Pre-Constructed Dense 3D Map in Indoor Environments.
Guanyuan FengLin MaXuezhi TanDanyang QinPublished in: ISPRS Int. J. Geo Inf. (2018)
Keyphrases
- indoor environments
- indoor localization
- mobile robot
- map building
- loop closing
- simultaneous localization and mapping
- topological map
- monocular vision
- visual odometry
- signal strength
- path planning
- outdoor environments
- fall detection
- image based localization
- image sequences
- laser range finder
- autonomous mobile robots
- pose estimation
- navigation tasks
- spatial layout
- dynamic environments
- localization algorithm
- laser range data
- error accumulation
- real time
- stereo camera
- computer vision