Low-latency Visual SLAM with Appearance-Enhanced Local Map Building.
Yipu ZhaoWenkai YePatricio A. VelaPublished in: ICRA (2019)
Keyphrases
- low latency
- visual slam
- map building
- simultaneous localization and mapping
- real time
- mobile robot
- dynamic environments
- robot navigation
- particle filter
- high speed
- high throughput
- mobile robotics
- appearance model
- kalman filter
- indoor environments
- data association
- highly efficient
- autonomous navigation
- stream processing
- virtual machine
- multi robot
- autonomous vehicles
- real environment
- camera motion
- bundle adjustment
- visual tracking
- human body
- motion model