Hierarchical Quadtree Feature Optical Flow Tracking Based Sparse Pose-Graph Visual-Inertial SLAM.
Hongle XieWeidong ChenJingchuan WangHesheng WangPublished in: ICRA (2020)
Keyphrases
- quadtree
- optical flow
- dense optical flow
- binary tree
- particle filter
- multiresolution
- tree structure
- inertial sensors
- motion model
- feature tracking
- kalman filter
- data structure
- motion segmentation
- image representation
- position and orientation
- image sequences
- binary space partitioning
- visual tracking
- optical flow estimation
- articulated objects
- hierarchical structure
- pose estimation
- simultaneous localization and mapping
- data association
- mobile robot
- object tracking
- visual odometry
- sensor fusion
- sparse representation
- multiscale
- high dimensional
- feature vectors
- camera pose
- flow field
- image features
- d objects
- image retrieval
- joint angles
- mean shift
- connected components
- loop closure
- moving objects
- camera motion