VIRAL SLAM: Tightly Coupled Camera-IMU-UWB-Lidar SLAM.
Thien-Minh NguyenShenghai YuanMuqing CaoThien Hoang NguyenLihua XiePublished in: CoRR (2021)
Keyphrases
- tightly coupled
- monocular slam
- visual slam
- simultaneous localization and mapping
- monocular camera
- camera tracking
- single camera
- mobile robot
- fine grained
- visual odometry
- inertial measurement unit
- camera motion
- general purpose
- loosely coupled
- outdoor environments
- particle filter
- field of view
- mobile robotics
- real time
- robot moves
- indoor environments
- vision system
- dynamic environments
- laser range sensor
- data association
- bundle adjustment
- scene structure
- inertial sensors
- sensor fusion
- ultra wideband
- ego motion
- depth images
- stereo camera
- ground plane
- structure from motion