An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM.
Patrick GenevaJames MaleyGuoquan HuangPublished in: CVPR (2019)
Keyphrases
- simultaneous localization and mapping
- monocular slam
- kalman filter
- extended kalman filter
- inertial sensors
- visual slam
- visual information
- kalman filtering
- particle filter
- mobile robot
- visual features
- low level
- object and scene recognition
- dynamic environments
- single camera
- mobile robotics
- computer simulation
- state estimation
- loop closing
- bundle adjustment
- monocular camera
- real time
- dynamic model
- structure from motion
- object tracking
- video sequences