An Enhanced Pedestrian Visual-Inertial SLAM System Aided with Vanishing Point in Indoor Environments.
Wennan ChaiChao LiMingyue ZhangZhen SunHao YuanFanyu LinQingdang LiPublished in: Sensors (2021)
Keyphrases
- indoor environments
- vanishing points
- mobile robot
- simultaneous localization and mapping
- vanishing point detection
- path planning
- robotic systems
- single image
- straight line
- outdoor environments
- topological map
- single view
- manhattan world
- inertial sensors
- camera calibration
- line segments
- ground plane
- focal length
- image processing
- object detection
- object recognition