Real-Time Hierarchical Outdoor SLAM Based on Stereovision and GPS Fusion.
David SchleicherLuis Miguel BergasaManuel OcañaRafael BareaMaría Elena López GuillénPublished in: IEEE Trans. Intell. Transp. Syst. (2009)
Keyphrases
- stereo vision
- real time
- vision system
- confidence measures
- outdoor environments
- depth information
- mobile robot
- visual slam
- stereo matching
- multi sensor
- simultaneous localization and mapping
- stereo images
- visual odometry
- disparity map
- data association
- stereo matching algorithm
- dynamic environments
- camera tracking
- laser range sensor
- surveillance system
- motion estimation