Graph-based LiDAR-Inertial SLAM Enhanced by Loosely-Coupled Visual Odometry.
Vsevolod HulchukJan BayerJan FaiglPublished in: ECMR (2023)
Keyphrases
- visual odometry
- loosely coupled
- simultaneous localization and mapping
- autonomous navigation
- long range
- kalman filter
- distributed systems
- web services
- kalman filtering
- ego motion
- mobile robot
- position information
- service oriented architecture
- depth images
- real time
- robot navigation
- particle filter
- mobile robotics
- optical flow
- indoor environments
- field of view
- extended kalman filter
- dynamic environments
- data association
- camera pose
- moving objects
- range data