Scale Estimation and Refinement in Monocular Visual-Inertial SLAM System.
Xufu MuJing ChenZhen LengSongnan LinNingsheng HuangPublished in: ICIG (1) (2017)
Keyphrases
- visual odometry
- depth from motion
- visual sensor
- visual slam
- mobile robot
- simultaneous localization and mapping
- object and scene recognition
- visual information
- image sequences
- visual features
- estimation accuracy
- inertial sensors
- pose estimation
- dynamic environments
- visual cues
- dynamic model
- indoor environments
- monocular slam
- monocular camera
- robust estimation
- scene categorization
- extended kalman filter
- mobile robotics
- visual data
- motion estimation
- low level
- optical flow