LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking.
Xingxing ZuoYulin YangPatrick GenevaJiajun LvYong LiuGuoquan HuangMarc PollefeysPublished in: IROS (2020)
Keyphrases
- sliding window
- feature tracking
- ground plane
- inertial sensors
- homography estimation
- motion estimates
- structure from motion
- sensor fusion
- data streams
- point cloud
- optical flow
- motion analysis
- camera parameters
- multiple cameras
- scene structure
- camera calibration
- feature matching
- motion segmentation
- multiple views
- bundle adjustment
- image sequences
- multi camera
- feature detection
- motion estimation
- computer vision
- three dimensional
- moving objects
- camera pose
- multi frame
- position and orientation
- data sets
- camera motion
- multi view
- geometric constraints
- single image
- high resolution
- missing data
- object recognition
- multiple objects
- visual odometry