Direct Visual SLAM Using Sparse Depth for Camera-LiDAR System.
Young-Sik ShinYeong Sang ParkAyoung KimPublished in: ICRA (2018)
Keyphrases
- visual slam
- camera motion
- monocular camera
- real time
- feature tracking
- ego motion
- moving camera
- visual odometry
- inertial sensors
- bundle adjustment
- field of view
- structure from motion
- video sequences
- depth information
- dynamic environments
- ground plane
- image sequences
- depth images
- optical flow
- high resolution
- depth map
- point cloud
- epipolar geometry
- multiple moving objects
- motion estimates
- multibody
- stereo camera
- motion sequences
- camera calibration
- motion blur
- real scenes
- stereo rig
- sparse representation
- feature points
- multiple cameras
- euclidean reconstruction
- d scene
- moving objects
- pose estimation
- video camera
- sensor fusion
- scene structure
- camera pose
- motion estimation
- focal length