SD-VIS: A Fast and Accurate Semi-Direct Monocular Visual-Inertial Simultaneous Localization and Mapping (SLAM).
Quanpan LiuZhengjie WangHuan WangPublished in: Sensors (2020)
Keyphrases
- simultaneous localization and mapping
- visual slam
- visual odometry
- kalman filter
- mobile robot
- monocular camera
- inertial sensors
- dynamic environments
- object and scene recognition
- extended kalman filter
- particle filter
- data association
- information filter
- mobile robotics
- loop closing
- indoor environments
- kalman filtering
- outdoor environments
- real time
- visual information
- detection and tracking of moving objects
- topological map
- dynamic model
- visual tracking
- map building
- pose estimation
- real environment
- image sequences