Dense RGB-D-inertial SLAM with map deformations.
Tristan LaidlowMichael BloeschWenbin LiStefan LeuteneggerPublished in: IROS (2017)
Keyphrases
- indoor environments
- loop closing
- camera tracking
- mobile robot
- simultaneous localization and mapping
- map building
- topological map
- three dimensional
- image registration
- robot moves
- maximum a posteriori
- kalman filter
- visual odometry
- markov random field
- rgb d camera
- dynamic model
- mobile robotics
- scene flow
- loop closure
- real time
- object and scene recognition