Monocular Rotational Odometry with Incremental Rotation Averaging and Loop Closure.
Chee-Kheng ChngÁlvaro ParraTat-Jun ChinYasir LatifPublished in: CoRR (2020)
Keyphrases
- visual odometry
- loop closure
- simultaneous localization and mapping
- normal flow
- map building
- error accumulation
- image sequences
- rigid motion
- mobile robot
- robot navigation
- particle filter
- pose estimation
- autonomous navigation
- mobile robotics
- ego motion
- kalman filter
- optical flow
- degrees of freedom
- optic flow
- data association
- dynamic environments
- motion field
- real time
- indoor environments
- viewpoint