Mono-hydra: Real-time 3D scene graph construction from monocular camera input with IMU.
U. V. B. L. UdugamaGeorge VosselmanFrancesco NexPublished in: CoRR (2023)
Keyphrases
- monocular camera
- d scene
- visual odometry
- ego motion
- real time
- feature tracking
- scene structure
- optical flow
- ground plane
- inertial sensors
- camera parameters
- depth map
- single image
- autonomous navigation
- structure from motion
- input data
- sensor fusion
- image sequences
- motion analysis
- position and orientation
- computational complexity