Inertial Aiding of Inverse Depth SLAM using a Monocular Camera.
Pedro PiniesTodd LuptonSalah SukkariehJuan D. TardósPublished in: ICRA (2007)
Keyphrases
- monocular camera
- visual slam
- inertial sensors
- visual odometry
- depth images
- sensor fusion
- ego motion
- simultaneous localization and mapping
- motion estimates
- position and orientation
- depth information
- feature tracking
- extended kalman filter
- motion tracking
- structure from motion
- mobile robot
- long range
- motion sequences
- real time
- depth map
- autonomous navigation
- ground plane
- markerless
- kalman filter
- optical flow
- multibody
- image sequences
- stereo camera
- position information
- error analysis
- bundle adjustment
- human motion
- d scene
- single image
- object recognition
- computer vision