EC-SLAM: Real-time Dense Neural RGB-D SLAM System with Effectively Constrained Global Bundle Adjustment.
Guanghao LiQi ChenYuXiang YanJian PuPublished in: CoRR (2024)
Keyphrases
- visual slam
- bundle adjustment
- camera tracking
- real time
- monocular slam
- structure from motion
- simultaneous localization and mapping
- camera motion
- augmented reality
- multi view
- least squares
- point correspondences
- camera parameters
- reprojection error
- scene structure
- loop closure
- scene reconstruction
- dynamic environments
- maximum likelihood
- monocular camera
- nonlinear optimization
- indoor environments
- single camera
- camera pose
- mobile robot
- point cloud
- feature points
- neural network
- depth information
- kalman filter
- vision system
- active learning
- moving objects
- stereo rig
- image sequences
- computer vision