Hierarchical forest based fast online loop closure for low-latency consistent visual-inertial SLAM.
Hongle XieWeidong ChenJingchuan WangPublished in: Robotics Auton. Syst. (2022)
Keyphrases
- low latency
- loop closure
- simultaneous localization and mapping
- real time
- high throughput
- loop closing
- high speed
- highly efficient
- mobile robot
- error accumulation
- virtual machine
- kalman filter
- map building
- inertial sensors
- particle filter
- outdoor environments
- bundle adjustment
- stream processing
- data association
- motion estimation
- database systems