LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking.
Xingxing ZuoYulin YangPatrick GenevaJiajun LvYong LiuGuoquan HuangMarc PollefeysPublished in: CoRR (2020)
Keyphrases
- sliding window
- feature tracking
- ground plane
- homography estimation
- inertial sensors
- motion estimates
- structure from motion
- data streams
- sensor fusion
- optical flow
- point cloud
- motion analysis
- multiple cameras
- camera parameters
- camera calibration
- feature detection
- scene structure
- multi sensor
- multi frame
- high resolution
- motion model
- epipolar geometry
- multi camera
- motion segmentation
- bundle adjustment
- camera motion
- data sets
- position and orientation
- missing data
- multi view
- motion estimation
- moving objects
- image sequences
- three dimensional