Detección de obstáculos durante vuelo autónomo de drones utilizando SLAM monocular.
José Martínez-CarranzaLuis ValentinFrancisco Márquez-AquinoJuan Carlos González-IslasNils LoewenPublished in: Res. Comput. Sci. (2016)
Keyphrases
- visual slam
- visual odometry
- simultaneous localization and mapping
- monocular slam
- real time
- mobile robot
- dynamic environments
- monocular camera
- long range
- model based tracking
- image sequences
- pose recovery
- indoor environments
- pose estimation
- bundle adjustment
- particle filter
- object and scene recognition
- autonomous navigation
- mobile robotics
- monocular images
- pose tracking
- kalman filter
- data association
- camera motion
- ego motion
- stereo camera
- road vehicles
- depth images
- path planning
- human body tracking
- optical flow