Accumulative Errors Optimization for Visual Odometry of ORB-SLAM2 Based on RGB-D Cameras.
Jiangying QinMing LiXuan LiaoJiageng ZhongPublished in: ISPRS Int. J. Geo Inf. (2019)
Keyphrases
- visual odometry
- simultaneous localization and mapping
- mobile robot
- rgb d camera
- autonomous navigation
- particle filter
- kalman filter
- dynamic environments
- data association
- indoor environments
- mobile robotics
- ego motion
- path planning
- robot navigation
- position information
- depth images
- hand held
- depth information
- real environment
- object tracking
- computer vision