mVIL-Fusion: Monocular Visual-Inertial-LiDAR Simultaneous Localization and Mapping in Challenging Environments.
Yan WangHongwei MaPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- simultaneous localization and mapping
- visual slam
- visual odometry
- dynamic environments
- kalman filter
- mobile robot
- extended kalman filter
- information filter
- object and scene recognition
- inertial sensors
- data association
- particle filter
- real world
- real environment
- indoor environments
- real time
- mobile robotics
- loop closing
- visual information
- image sequences
- kalman filtering
- point cloud
- robot navigation
- sensor fusion
- detection and tracking of moving objects
- ego motion
- data fusion
- visual features
- robotic systems
- optical flow
- topological map
- path planning
- autonomous robots
- motion estimation
- high resolution
- autonomous navigation
- object tracking