Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping.
Simon BocheSebastián Barbas LainaStefan LeuteneggerPublished in: ICRA (2024)
Keyphrases
- tightly coupled
- fine grained
- loosely coupled
- loop closing
- general purpose
- intermediate representation
- high level
- mobile robot
- simultaneous localization and mapping
- point cloud
- low level
- visual features
- visual information
- data association
- object and scene recognition
- kalman filter
- inertial sensors
- loop closure
- monocular slam
- range data
- visual slam
- image classification
- high resolution