Fusion of visual odometry and inertial sensors using dual quaternions and stochastic cloning.
Manuel SchwaabMichailas RomanovasDavide PlaiaTobias SchwarzeYiannos ManoliPublished in: FUSION (2016)
Keyphrases
- inertial measurement unit
- visual odometry
- inertial sensors
- sensor fusion
- autonomous navigation
- mobile robot
- long range
- extended kalman filter
- ego motion
- multi sensor
- real time
- simultaneous localization and mapping
- kalman filtering
- depth images
- position information
- position and orientation
- data fusion
- dynamic environments
- optical flow
- computer vision
- motion tracking
- range data
- kalman filter
- motion sequences
- motion estimation