Revisiting Visual-Inertial Structure-From-Motion for Odometry and SLAM Initialization.
Georgios EvangelidisBranislav MicusikPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- structure from motion
- inertial sensors
- motion estimates
- visual slam
- monocular camera
- bundle adjustment
- simultaneous localization and mapping
- image sequences
- feature tracking
- camera parameters
- visual odometry
- computer vision
- camera motion
- reprojection error
- point cloud
- camera pose
- missing data
- mobile robot
- kalman filter
- sensor fusion
- extended kalman filter
- position and orientation
- map building
- motion estimation
- camera positions
- focal length
- optical flow
- image based localization
- mobile robotics
- motion tracking
- indoor environments
- data association
- dynamic environments
- particle filter
- maximum likelihood
- least squares
- object recognition
- video sequences