SiLK-SLAM: accurate, robust and versatile visual SLAM with simple learned keypoints.
Jianjun YaoYingzhao LiPublished in: Ind. Robot (2024)
Keyphrases
- visual slam
- keypoints
- monocular slam
- real time
- dynamic environments
- simultaneous localization and mapping
- keypoint detection
- camera motion
- multibody
- scale invariant feature transform
- multiscale
- monocular camera
- bundle adjustment
- mobile robot
- image matching
- motion segmentation
- structure from motion
- image features
- feature descriptors
- stereo rig
- image registration
- image segmentation