Tightly-coupled fusion of iGPS measurements in optimization-based visual SLAM.
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DOI: 10.1364/oe.481848
Abstract: The monocular visual Simultaneous Localization and Mapping (SLAM) can achieve accurate and robust pose estimation with excellent perceptual ability. However, accumulated image error over time brings out excessive trajectory drift in a GPS-denied indoor environment… read more here.
Keywords: igps measurements; visual slam; igps; optimization based ... See more keywords