A Robust Learned Feature-Based Visual Odometry System for UAV Pose Estimation in Challenging Indoor Environments.
Leijian YuErfu YangBeiya YangZixiang FeiCong NiuPublished in: IEEE Trans. Instrum. Meas. (2023)
Keyphrases
- pose estimation
- pose estimates
- indoor environments
- visual odometry
- simultaneous localization and mapping
- mobile robot
- autonomous navigation
- path planning
- depth images
- camera pose
- long range
- d objects
- feature points
- ego motion
- computer vision
- position and orientation
- human body
- dynamic environments
- position information
- multiple cameras
- focal length
- kalman filtering
- range data
- extended kalman filter
- field of view
- kalman filter
- image features
- high resolution
- viewpoint
- object recognition