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