Pose-graph visual SLAM with geometric model selection for autonomous underwater ship hull inspection.
Ayoung KimRyan M. EusticePublished in: IROS (2009)
Keyphrases
- model selection
- visual slam
- cross validation
- motion segmentation
- real time
- dynamic environments
- mixture model
- machine learning
- selection criterion
- pose estimation
- model selection criteria
- camera motion
- monocular camera
- autonomous navigation
- bundle adjustment
- simultaneous localization and mapping
- d objects
- geometric constraints
- multibody
- feature selection
- least squares
- camera pose
- state space
- object recognition