Relocalization, Global Optimization and Map Merging for Monocular Visual-Inertial SLAM.
Tong QinPeiliang LiShaojie ShenPublished in: CoRR (2018)
Keyphrases
- global optimization
- visual slam
- monocular slam
- inertial sensors
- monocular camera
- loop closure
- loop closing
- simultaneous localization and mapping
- particle swarm optimization
- mobile robot
- ant colony algorithm
- visual odometry
- pso algorithm
- global search
- kalman filter
- global solution
- error accumulation
- map building
- deterministic annealing
- binary particle swarm optimization
- image sequences
- inverse problems
- sensor fusion
- topological map
- maximum a posteriori
- pose estimation
- dynamic environments
- neural network
- mobile robotics
- convergence speed
- evolutionary algorithm
- constrained global optimization