Tightly-Coupled LiDAR-Visual SLAM Based on Geometric Features for Mobile Agents.
Ke CaoRuiping LiuZe WangKunyu PengJiaming ZhangJunwei ZhengZhifeng TengKailun YangRainer StiefelhagenPublished in: ROBIO (2023)
Keyphrases
- tightly coupled
- geometric features
- mobile agents
- visual slam
- real time
- dynamic environments
- fine grained
- loosely coupled
- point cloud
- camera motion
- general purpose
- distributed systems
- shape descriptors
- shape features
- simultaneous localization and mapping
- geometric structure
- mobile robot
- intelligent agents
- high resolution
- feature points
- object recognition
- high level
- point sets
- structure from motion
- vision system
- wireless sensor networks