KO-Fusion: Dense Visual SLAM with Tightly-Coupled Kinematic and Odometric Tracking.
Charlie HouseagoMichael BloeschStefan LeuteneggerPublished in: ICRA (2019)
Keyphrases
- tightly coupled
- visual slam
- real time
- dynamic environments
- monocular camera
- fine grained
- camera motion
- general purpose
- loosely coupled
- simultaneous localization and mapping
- bundle adjustment
- sensor fusion
- degrees of freedom
- multibody
- feature tracking
- multi sensor
- kalman filter
- structure from motion
- moving camera
- path planning
- particle filter
- mobile robot
- high level