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Multi-Feature Nonlinear Optimization Motion Estimation Based on RGB-D and Inertial Fusion
To achieve a high precision estimation of indoor robot motion, a tightly coupled RGB-D visual-inertial SLAM system is proposed herein based on multiple features. Most of the traditional visual SLAM methods only rely on points for feature matching and they often underperform in low textured scenes. B...
| Autores principales: | , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2020
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7506712/ https://www.ncbi.nlm.nih.gov/pubmed/32824978 http://dx.doi.org/10.3390/s20174666 |