EMoVI-SLAM: Embedded Monocular Visual Inertial SLAM with Scale Update for Large Scale Mapping and Localization.
Sami UllahBowen SongWeidong ChenPublished in: RO-MAN (2018)
Keyphrases
- loop closing
- simultaneous localization and mapping
- visual slam
- mobile robot
- visual odometry
- kalman filter
- object and scene recognition
- monocular slam
- dynamic environments
- small scale
- monocular camera
- inertial sensors
- mobile robotics
- map building
- indoor environments
- extended kalman filter
- loop closure
- data association
- robot navigation
- topological map
- visual information
- simultaneous localization and map building
- dynamic model
- visual features
- pose recovery
- real world
- single camera
- low level
- particle filter
- real time
- camera tracking
- scale space
- camera motion
- autonomous navigation