Accurate Monocular Visual-Inertial SLAM Using a Map-Assisted EKF Approach.
Meixiang QuanSonghao PiaoMinglang TanShi-Sheng HuangPublished in: IEEE Access (2019)
Keyphrases
- simultaneous localization and mapping
- visual slam
- monocular slam
- kalman filter
- loop closing
- extended kalman filter
- visual odometry
- mobile robot
- inertial sensors
- kalman filtering
- particle filter
- map building
- visual features
- topological map
- object and scene recognition
- real time
- visual sensor
- single camera
- neural network
- image sequences
- pose estimation
- data association
- visual information
- computer simulation
- computer vision
- object recognition
- loop closure
- optical flow
- pose recovery
- dynamic environments
- dynamic model
- camera motion
- object tracking
- state estimation
- visual tracking
- visual cues