RCM-SLAM: Visual localisation and mapping under remote centre of motion constraints.
Francisco VasconcelosEvangelos B. MazomenosJohn D. KellyDanail StoyanovPublished in: ICRA (2019)
Keyphrases
- visual perception
- loop closing
- geometrical constraints
- visual cues
- physical constraints
- visual motion
- space time
- visual data
- visual input
- motion analysis
- human motion
- loop closure
- perceptual information
- visual information
- motion model
- motion estimation
- motion field
- motion segmentation
- motion tracking
- mobile robot
- real time
- humanoid robot
- kalman filter
- simultaneous localization and mapping
- visual features
- particle filter
- state space
- optical flow
- image sequences