CMax-SLAM: Event-Based Rotational-Motion Bundle Adjustment and SLAM System Using Contrast Maximization.
Shuang GuoGuillermo GallegoPublished in: IEEE Trans. Robotics (2024)
Keyphrases
- bundle adjustment
- monocular slam
- visual slam
- structure from motion
- multi view
- camera motion
- camera parameters
- simultaneous localization and mapping
- single camera
- least squares
- point correspondences
- dynamic environments
- scene reconstruction
- real time
- loop closure
- camera tracking
- motion parameters
- stereo rig
- rotational motion
- camera calibration
- indoor environments
- mobile robot
- monocular camera
- multiple cameras
- camera pose
- feature points
- maximum likelihood
- epipolar geometry
- translational motion
- feature correspondences
- range images
- motion estimation
- video sequences
- image sequences
- three dimensional