Real-Time 3D Mapping with Visual-Inertial Odometry Pose Coupled with Localization in an Occupancy Map.
Jacek SzklarskiCezary ZiemieckiJacek SzaltysMarian OstrowskiPublished in: AUTOMATION (2019)
Keyphrases
- loop closure
- simultaneous localization and mapping
- map building
- inertial sensors
- loop closing
- mobile robot
- kalman filter
- position and orientation
- real time
- visual odometry
- robot navigation
- data association
- particle filter
- sensor fusion
- extended kalman filter
- dynamic environments
- outdoor environments
- multi robot
- robot localization
- mobile robotics
- indoor environments
- autonomous vehicles
- error accumulation
- motion tracking
- position estimation
- topological map
- pose estimation
- visual information
- low level
- computer vision
- smooth pursuit
- autonomous navigation
- real environment
- human pose
- human motion
- visual tracking
- vision system