BirdSLAM: Monocular Multibody SLAM in Bird's-Eye View.
Swapnil DagaGokul B. NairAnirudha RameshRahul SajnaniJunaid Ahmed AnsariK. Madhava KrishnaPublished in: CoRR (2020)
Keyphrases
- visual slam
- multibody
- real time
- dynamic environments
- simultaneous localization and mapping
- camera motion
- monocular camera
- bundle adjustment
- motion segmentation
- point correspondences
- multiple views
- visual odometry
- image sequences
- motion tracking
- geometric properties
- motion model
- optical flow
- three dimensional
- particle filter
- mobile robot
- dynamic scenes
- data association
- geometric constraints
- rigid objects
- motion estimation
- epipolar geometry
- feature points
- structure from motion