DiT-SLAM: Real-Time Dense Visual-Inertial SLAM with Implicit Depth Representation and Tightly-Coupled Graph Optimization.
Mingle ZhaoDingfu ZhouXibin SongXiuwan ChenLiangjun ZhangPublished in: Sensors (2022)
Keyphrases
- tightly coupled
- visual slam
- real time
- simultaneous localization and mapping
- monocular camera
- inertial sensors
- monocular slam
- camera tracking
- topological map
- object and scene recognition
- mobile robot
- visual odometry
- graph representation
- indoor environments
- fine grained
- loosely coupled
- kalman filter
- loop closing
- mobile robotics
- single camera
- particle filter
- dynamic environments
- general purpose
- augmented reality
- graph structure
- depth information
- sensor fusion
- visual representation
- data association
- image representation
- bundle adjustment
- visual features
- real time tracking
- high level
- dense disparity map
- case study
- depth map
- autonomous navigation
- real environment
- depth images
- weighted graph