A Real-time and Robust Monocular Visual Inertial SLAM System Based on Point and Line Features for Mobile Robots of Smart Cities Toward 6G.
Zhenfei KuangWei WeiYier YanJie LiGuangman LuYuyang PengJun LiWenli ShangPublished in: IEEE Open J. Commun. Soc. (2022)
Keyphrases
- mobile robot
- line features
- indoor environments
- real time
- visual odometry
- simultaneous localization and mapping
- path planning
- camera pose
- dynamic environments
- smart cities
- image sequences
- line correspondences
- pose estimation
- structural information
- multiple views
- inertial sensors
- vision system
- optical flow
- service integration
- object recognition
- metadata
- smart city
- three dimensional
- point features
- viewpoint
- feature vectors
- robotic systems
- image features