Tight Integration of Feature-Based Relocalization in Monocular Direct Visual Odometry.
Mariia GladkovaRui WangNiclas ZellerDaniel CremersPublished in: CoRR (2021)
Keyphrases
- visual odometry
- tight integration
- autonomous navigation
- ego motion
- camera pose
- long range
- depth images
- simultaneous localization and mapping
- position information
- kalman filtering
- field of view
- image features
- real time
- mobile robot
- conditional random fields
- optical flow
- kalman filter
- stereo camera
- dynamic environments
- range data
- point correspondences
- indoor environments
- motion blur
- vision system
- extended kalman filter
- structure from motion
- single image