Co-Planar Parametrization for Stereo-SLAM and Visual-Inertial Odometry.
Xin LiYanyan LiEvin Pinar ÖrnekJinlong LinFederico TombariPublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- inertial sensors
- visual odometry
- simultaneous localization and mapping
- sensor fusion
- position and orientation
- mobile robot
- autonomous navigation
- visual information
- computer vision
- kalman filter
- object and scene recognition
- map building
- extended kalman filter
- image pairs
- stereo vision
- visual features
- stereo pair
- planar surfaces
- stereo images
- dynamic model
- real time
- multi camera
- indoor environments
- disparity map
- motion tracking
- unknown environments
- stereo matching
- depth map