Monocular SLAM with locally planar landmarks via geometric rao-blackwellized particle filtering on Lie groups.
Junghyun KwonKyoung Mu LeePublished in: CVPR (2010)
Keyphrases
- monocular slam
- lie group
- simultaneous localization and mapping
- visual slam
- single camera
- geometric structure
- infinite dimensional
- mobile robot
- bundle adjustment
- parameter space
- vector field
- kalman filter
- riemannian manifolds
- euclidean space
- mobile robotics
- multiple cameras
- vector space
- dynamic environments
- particle filter
- indoor environments
- ground plane
- mean shift
- data association
- robot navigation
- field of view
- camera motion
- structure from motion
- geometric constraints
- d objects