Combining monocular and stereo vision in 6D-SLAM for the localization of a tracked wheel robot.
Filipe JesusRodrigo VenturaPublished in: SSRR (2012)
Keyphrases
- stereo vision
- simultaneous localization and mapping
- visual slam
- visual odometry
- mobile robot
- loop closing
- stereo camera
- map building
- depth cues
- image sequences
- vision system
- mobile robotics
- obstacle detection
- robot navigation
- outdoor environments
- dynamic environments
- particle filter
- stereo matching
- depth information
- indoor environments
- data association
- kalman filter
- stereo images
- real time
- depth estimation
- multi robot
- real environment
- disparity map
- topological map
- obstacle avoidance
- autonomous navigation
- path planning
- semi global matching
- real robot
- motion model
- object tracking
- ego motion
- pose estimation
- computer vision