Relocalization, Global Optimization and Map Merging for Monocular Visual-Inertial SLAM.
Tong QinPeiliang LiShaojie ShenPublished in: ICRA (2018)
Keyphrases
- global optimization
- monocular slam
- visual slam
- loop closure
- simultaneous localization and mapping
- loop closing
- particle swarm optimization
- visual odometry
- mobile robot
- map building
- ant colony algorithm
- object and scene recognition
- global solution
- inertial sensors
- dynamic environments
- deterministic annealing
- kalman filter
- inverse problems
- error accumulation
- image sequences
- global search
- constrained global optimization
- pso algorithm
- image completion
- maximum a posteriori
- bundle adjustment
- binary particle swarm optimization
- indoor environments
- mobile robotics
- optical flow
- ego motion
- single camera