UrbanFly: Uncertainty-Aware Planning for Navigation Amongst High-Rises with Monocular Visual-Inertial SLAM Maps.
Sudarshan S. HarithasAyyappa Swamy ThatavarthyGurkirat SinghArun Kumar SinghK. Madhava KrishnaPublished in: ACC (2023)
Keyphrases
- visual odometry
- visual navigation
- indoor environments
- map building
- simultaneous localization and mapping
- autonomous navigation
- mobile robot
- robot navigation
- planning process
- visual slam
- planning problems
- topological map
- object and scene recognition
- image sequences
- visual features
- visual sensor
- obstacle avoidance
- heuristic search
- motion planning
- monocular slam
- visual information
- unknown environments
- pose estimation
- route planning
- ego motion
- vision system
- monocular camera
- decision theory
- pose recovery
- navigation systems
- loop closing
- mobile robotics