Adaptive Stereo Direct Visual Odometry with Real-Time Loop Closure Detection and Relocalization.
Ruihang MiaoPeilin LiuZheng GongWuyang XueXingwu JiRendong YingPublished in: ISCAS (2021)
Keyphrases
- loop closure
- visual odometry
- simultaneous localization and mapping
- mobile robot
- dynamic environments
- kalman filter
- particle filter
- outdoor environments
- data association
- mobile robotics
- indoor environments
- real time
- robot navigation
- autonomous navigation
- real environment
- map building
- computer vision
- error accumulation
- robotic systems
- stereo vision
- path planning
- object tracking