On combining visual SLAM and dense scene flow to increase the robustness of localization and mapping in dynamic environments.
Pablo Fernández AlcantarillaJosé Javier Yebes TorresJavier AlmazánLuis Miguel BergasaPublished in: ICRA (2012)
Keyphrases
- dynamic environments
- visual slam
- scene flow
- simultaneous localization and mapping
- multi camera
- d scene
- optical flow
- motion field
- mobile robot
- image pairs
- stereo camera
- path planning
- scene structure
- real environment
- stereo pair
- least squares
- vector field
- multi sensor
- single image
- computer vision
- motion model
- real time
- indoor environments