Real-time hierarchical GPS aided visual SLAM on urban environments.
David SchleicherLuis Miguel BergasaManuel OcañaRafael BareaElena López GuillénPublished in: ICRA (2009)
Keyphrases
- urban environments
- visual slam
- real time
- monocular camera
- dynamic environments
- urban areas
- bundle adjustment
- camera motion
- global positioning system
- augmented reality
- simultaneous localization and mapping
- vision system
- camera pose
- three dimensional
- mobile robot
- visual odometry
- markerless
- multibody
- feature tracking
- multi view
- remote sensing images
- geographic information systems
- motion segmentation
- structure from motion
- camera calibration