Enhanced V-SLAM combining SVO and ORB-SLAM2, with reduced computational complexity, to improve autonomous indoor mini-drone navigation under varying conditions.
Amin BasiriValerio MarianiLuigi GlielmoPublished in: IECON (2022)
Keyphrases
- indoor environments
- mobile robot
- simultaneous localization and mapping
- computational complexity
- robotic systems
- outdoor environments
- autonomous navigation
- path planning
- visual slam
- monocular slam
- mobile robotics
- unknown environments
- land vehicle
- dynamic environments
- particle filter
- obstacle avoidance
- autonomous vehicles
- object and scene recognition
- indoor navigation
- map building
- topological map
- memory requirements
- sufficient conditions
- object recognition
- service robots
- unmanned aerial vehicles
- computational efficiency
- special case