COP-SLAM: Closed-Form Online Pose-Chain Optimization for Visual SLAM.
Gijs DubbelmanBrett BrowningPublished in: IEEE Trans. Robotics (2015)
Keyphrases
- closed form
- visual slam
- real time
- monocular slam
- simultaneous localization and mapping
- dynamic environments
- bundle adjustment
- point correspondences
- camera motion
- monocular camera
- pose estimation
- mobile robot
- multibody
- closed form solutions
- structure from motion
- constrained optimization
- d objects
- motion tracking
- camera pose
- data association
- position and orientation
- visual odometry