Autonomous flight using RGB-D SLAM with a monocular onboard camera only.
Roberto Munguia-SilvaJosé Martínez-CarranzaPublished in: CONIELECOMP (2018)
Keyphrases
- camera tracking
- visual odometry
- autonomous navigation
- monocular camera
- visual slam
- monocular slam
- ego motion
- indoor environments
- augmented reality
- simultaneous localization and mapping
- depth images
- camera motion
- pose estimation
- mobile robot
- visual sensor
- stereo camera
- field of view
- single camera
- markerless
- real time
- depth cameras
- image sequences
- bundle adjustment
- rgb d camera
- outdoor environments
- hand held
- camera pose
- time of flight
- structure from motion
- unmanned aerial vehicles
- robotic systems
- dynamic environments
- projective geometry
- calibrated cameras
- vision system
- depth data
- range data
- camera parameters
- multi view
- perspective images
- camera calibration
- high resolution
- laser range sensor
- robot moves
- optical flow
- point cloud
- mobile robotics
- depth information
- multiple cameras
- data association