ALVIO: Adaptive Line and Point Feature-based Visual Inertial Odometry for Robust Localization in Indoor Environments.
Kwangyik JungYeeun KimHyunjun LimHyun MyungPublished in: CoRR (2020)
Keyphrases
- indoor environments
- simultaneous localization and mapping
- indoor localization
- mobile robot
- line features
- inertial sensors
- spatial layout
- map building
- monocular vision
- laser range data
- image based localization
- outdoor environments
- laser range finder
- image features
- navigation tasks
- sensor fusion
- robotic systems
- path planning
- fall detection
- signal strength
- localization method
- line segments
- position estimation
- camera calibration
- kalman filter
- autonomous navigation
- position and orientation
- dynamic environments
- dynamic model
- optical flow
- object recognition