Tight Integration of Feature-based Relocalization in Monocular Direct Visual Odometry.
Mariia GladkovaRui WangNiclas ZellerDaniel CremersPublished in: ICRA (2021)
Keyphrases
- visual odometry
- tight integration
- autonomous navigation
- long range
- camera pose
- ego motion
- kalman filtering
- position information
- depth images
- simultaneous localization and mapping
- real time
- mobile robot
- range data
- kalman filter
- position and orientation
- pose estimation
- dynamic environments
- feature points
- motion blur
- focal length
- point correspondences
- structure from motion
- camera motion
- image features