A Robust Visual-Inertial Odometry Based on RANSAC Modeling and Motion Conflict in Dynamic Environments.
Shenglin ZhaoHaoyuan CaiYa-Qian LiuChengnie LiaoChunxiu LiuPublished in: IPIN-WiP (2022)
Keyphrases
- dynamic environments
- inertial sensors
- autonomous navigation
- robust estimation
- visual perception
- visual odometry
- path planning
- mobile robot
- motion tracking
- changing environment
- motion sequences
- motion estimation
- autonomous agents
- visual information
- random sample consensus
- feature points
- visual motion
- motion field
- simultaneous localization and mapping
- robust regression
- image sequences
- position and orientation
- highly dynamic environments
- visual data
- human motion
- multi agent systems
- optical flow
- potential field
- kalman filter
- collision free
- motion planning
- agent systems
- ego motion
- visual cues
- collision avoidance
- sensor fusion
- plan execution
- single agent
- moving objects
- degrees of freedom
- particle filter
- least squares
- motion capture