Improved inverse-depth parameterization for monocular simultaneous localization and mapping.
Evren ImreMarie-Odile BergerNicolas NouryPublished in: ICRA (2009)
Keyphrases
- simultaneous localization and mapping
- visual slam
- visual odometry
- mobile robot
- information filter
- kalman filter
- depth cues
- depth images
- rgb d camera
- ego motion
- dynamic environments
- detection and tracking of moving objects
- depth information
- indoor environments
- extended kalman filter
- data association
- pose estimation
- particle filter
- robot navigation
- depth map
- real time
- loop closing
- mobile robotics
- gauss newton
- object and scene recognition
- stereo camera
- stereo vision
- vision system
- high fidelity
- kalman filtering
- long range
- feature space