GMS-RANSAC: A Fast Algorithm for Removing Mismatches Based on ORB-SLAM2.
Daode ZhangJinlun ZhuFusheng WangXinyu HuXuhui YePublished in: Symmetry (2022)
Keyphrases
- mobile robot
- simultaneous localization and mapping
- monocular slam
- data association
- particle filter
- outlier removal
- parameter estimation
- mobile robotics
- robust estimation
- indoor environments
- epipolar geometry
- robust estimator
- visual slam
- feature points
- point correspondences
- particle filtering
- numerical integration
- previously published methods
- dynamic environments
- single camera
- optical flow
- model fitting
- dynamical systems
- outlier rejection
- object and scene recognition