Complementation of cameras and lasers for accurate 6D SLAM: From correspondences to bundle adjustment.
Yekeun JeongYunsu BokJun-Sik KimIn-So KweonPublished in: ICRA (2011)
Keyphrases
- bundle adjustment
- camera pose
- visual slam
- monocular slam
- point correspondences
- structure from motion
- feature correspondences
- image correspondences
- multi view
- stereo rig
- epipolar constraint
- visual odometry
- camera parameters
- rolling shutter
- single camera
- camera motion
- camera positions
- reprojection error
- least squares
- scene reconstruction
- camera tracking
- projective reconstruction
- camera calibration
- trifocal tensor
- multiple cameras
- scene structure
- radial distortion
- uncalibrated cameras
- moving camera
- dynamic environments
- maximum likelihood
- closed form
- data association
- epipolar geometry
- computer vision
- image sequences
- rotation angles
- optical flow
- real time
- intrinsic parameters
- simultaneous localization and mapping
- pose estimation
- feature points
- ego motion
- object tracking
- viewpoint
- object recognition
- high quality
- three dimensional
- multi camera