O-POCO: Online point cloud compression mapping for visual odometry and SLAM.
Luis ContrerasWalterio W. Mayol-CuevasPublished in: ICRA (2017)
Keyphrases
- visual odometry
- point cloud
- simultaneous localization and mapping
- loop closing
- ego motion
- stereo camera
- long range
- autonomous navigation
- structure from motion
- camera pose
- mobile robot
- kalman filtering
- depth images
- surface reconstruction
- position information
- real time
- point sets
- dynamic environments
- image sequences
- extended kalman filter
- mobile robotics
- data association
- kalman filter
- bundle adjustment
- indoor environments
- camera parameters
- range data
- vision system
- computer vision