Feature-based visual odometry prior for real-time semi-dense stereo SLAM.
Nicola KrombachDavid DroeschelSebastian HoubenSven BehnkePublished in: Robotics Auton. Syst. (2018)
Keyphrases
- visual odometry
- dense stereo
- simultaneous localization and mapping
- autonomous navigation
- real time
- long range
- ego motion
- optical flow
- kalman filtering
- depth images
- position information
- mobile robot
- dynamic environments
- indoor environments
- high quality
- camera pose
- range data
- kalman filter
- real environment
- camera calibration
- particle filter