LMBAO: A Landmark Map for Bundle Adjustment Odometry in LiDAR SLAM.
Letian ZhangJinping WangLu JieNanjie ChenXiaojun TanZhifei DuanPublished in: ICASSP (2023)
Keyphrases
- bundle adjustment
- visual slam
- loop closure
- simultaneous localization and mapping
- monocular slam
- map building
- structure from motion
- loop closing
- mobile robot
- robot moves
- point cloud
- least squares
- point correspondences
- visual odometry
- multi view
- camera motion
- robot navigation
- camera parameters
- camera pose
- scene reconstruction
- scene structure
- data association
- particle filter
- dynamic environments
- topological map
- kalman filter
- camera tracking
- nonlinear optimization
- mobile robotics
- indoor environments
- image sequences
- reprojection error
- image registration
- maximum likelihood
- computer vision
- high resolution
- real time
- multiple views
- monocular camera
- outdoor environments
- camera calibration
- feature points
- object recognition
- closed form
- stereo rig
- d scene
- feature extraction
- feature tracking