VI-NeRF-SLAM: a real-time visual-inertial SLAM with NeRF mapping.
DaoQing LiaoWei AiPublished in: J. Real Time Image Process. (2024)
Keyphrases
- visual slam
- real time
- loop closing
- simultaneous localization and mapping
- monocular camera
- inertial sensors
- mobile robot
- monocular slam
- visual odometry
- object and scene recognition
- loop closure
- camera tracking
- kalman filter
- dynamic environments
- mobile robotics
- visual information
- particle filter
- low cost
- sensor fusion
- indoor environments
- high speed
- control system
- extended kalman filter
- data association
- low level
- map building
- camera motion
- high level