Densifying SLAM for UAV Navigation by Fusion of Monocular Depth Prediction.
Yassine HabibPanagiotis PapadakisCédric Le BarzAntoine FagetteTiago GonçalvesCédric BuchePublished in: ICARA (2023)
Keyphrases
- indoor environments
- mobile robot
- visual slam
- depth cues
- prediction accuracy
- visual odometry
- path planning
- dynamic environments
- autonomous navigation
- obstacle avoidance
- image sequences
- simultaneous localization and mapping
- ego motion
- prediction model
- depth information
- pose estimation
- information fusion
- stereo camera
- stereo vision
- depth map
- unknown environments
- real time
- pose recovery
- monocular slam
- loop closing
- relative depth
- prediction error
- camera motion
- data fusion
- optical flow