An almost globally convergent observer for visual SLAM without persistent excitation.
Bowen YiChi JinLei WangGuodong ShiIan R. ManchesterPublished in: CDC (2021)
Keyphrases
- visual slam
- globally convergent
- autocalibration
- bundle adjustment
- real time
- dynamic environments
- variational inequalities
- camera motion
- structure from motion
- newton method
- moving camera
- point correspondences
- simultaneous localization and mapping
- camera parameters
- least squares
- epipolar geometry
- maximum likelihood
- scene structure
- three dimensional