Precise LiDAR SLAM in Structured Scene Using Finite Plane and Prior Constraint.
Yuhui XieWentao ZhaoJiahao WangJingchuan WangWeidong ChenPublished in: ROBIO (2022)
Keyphrases
- camera tracking
- ground plane
- three dimensional
- piecewise planar
- d scene
- uncalibrated cameras
- mobile robot
- single image
- vanishing points
- monocular slam
- video sequences
- multiple images
- curved surfaces
- input image
- planar regions
- high resolution
- mobile robotics
- derive a closed form solution
- data association
- dynamic scenes
- augmented reality
- moving objects
- image sequences
- relative position
- camera positions
- visual slam
- parallel planes
- scene classification
- scene structure
- simultaneous localization and mapping
- point cloud
- laser scanner
- scene images
- dynamic environments
- particle filter