A synchronized visual-inertial sensor system with FPGA pre-processing for accurate real-time SLAM.
Janosch NikolicJoern RehderMichael BurriPascal GohlStefan LeuteneggerPaul Timothy FurgaleRoland SiegwartPublished in: ICRA (2014)
Keyphrases
- inertial sensors
- real time
- preprocessing
- sensor fusion
- monocular camera
- position and orientation
- mobile robot
- extended kalman filter
- motion tracking
- simultaneous localization and mapping
- visual odometry
- indoor environments
- particle filter
- motion sequences
- feature extraction
- visual features
- dynamic environments
- data fusion
- error analysis
- d objects
- mobile robotics