LMBAO: A Landmark Map for Bundle Adjustment Odometry in LiDAR SLAM.
Letian ZhangJinping WangLu JieNanjie ChenXiaojun TanZhifei DuanPublished in: CoRR (2022)
Keyphrases
- bundle adjustment
- loop closure
- visual slam
- simultaneous localization and mapping
- monocular slam
- map building
- structure from motion
- loop closing
- point cloud
- mobile robot
- robot moves
- camera motion
- multi view
- robot navigation
- least squares
- point correspondences
- camera parameters
- visual odometry
- nonlinear optimization
- image sequences
- scene structure
- camera pose
- dynamic environments
- scene reconstruction
- reprojection error
- stereo rig
- topological map
- data association
- particle filter
- camera tracking
- outdoor environments
- image registration
- kalman filter
- maximum likelihood
- high resolution
- optical flow
- indoor environments
- error accumulation
- mobile robotics
- object tracking
- autonomous navigation
- cost function
- path planning
- essential matrices
- computer vision