Fast Odometry Integration in Local Bundle Adjustment-Based Visual SLAM.
Alexandre EudesMaxime LhuillierSylvie Naudet-ColletteMichel DhomePublished in: ICPR (2010)
Keyphrases
- visual slam
- bundle adjustment
- structure from motion
- simultaneous localization and mapping
- camera motion
- multi view
- monocular slam
- monocular camera
- real time
- dynamic environments
- point correspondences
- camera parameters
- least squares
- visual odometry
- stereo rig
- scene structure
- camera pose
- inertial sensors
- image sequences
- missing data
- autocalibration
- maximum likelihood
- mobile robot
- ego motion
- three dimensional
- indoor environments
- kalman filter
- depth map
- computer vision