A Real-Time Monocular Visual SLAM Based on the Bundle Adjustment with Adaptive Robust Kernel.
Deqi MingXuedong WuYaonan WangZhiyu ZhuHuilin GeRunbang LiuPublished in: J. Intell. Robotic Syst. (2023)
Keyphrases
- visual slam
- bundle adjustment
- real time
- structure from motion
- camera motion
- dynamic environments
- monocular slam
- monocular camera
- multi view
- least squares
- point correspondences
- multibody
- stereo rig
- camera parameters
- maximum likelihood
- image sequences
- simultaneous localization and mapping
- camera pose
- three dimensional
- epipolar geometry
- scene structure
- computer vision