Journal ArticleDOI
Hybrid metric-feature mapping based on camera and Lidar sensor fusion
TLDR
In this paper , the Lidar and camera measurements are fused to obtain robust motion estimation and construct a hybrid metric-feature map, and a multi-stage loop closure strategy is applied to determine the loop candidate.About:
This article is published in Measurement.The article was published on 2023-02-01. It has received 1 citations till now. The article focuses on the topics: Lidar & Computer science.read more
Citations
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Journal ArticleDOI
Advancing Simultaneous Localization and Mapping with Multi-Sensor Fusion and Point Cloud De-Distortion
TL;DR: In this article , a novel obstacle detection method, named the point-map fusion (PMF) algorithm, was proposed, which integrates point cloud data from the LiDAR, camera, and odometer, along with local grid maps.
References
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Journal ArticleDOI
ORB-SLAM: A Versatile and Accurate Monocular SLAM System
TL;DR: ORB-SLAM as discussed by the authors is a feature-based monocular SLAM system that operates in real time, in small and large indoor and outdoor environments, with a survival of the fittest strategy that selects the points and keyframes of the reconstruction.
Journal ArticleDOI
ORB-SLAM: a Versatile and Accurate Monocular SLAM System
TL;DR: A survival of the fittest strategy that selects the points and keyframes of the reconstruction leads to excellent robustness and generates a compact and trackable map that only grows if the scene content changes, allowing lifelong operation.
Journal ArticleDOI
ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras
Raul Mur-Artal,Juan D. Tardós +1 more
TL;DR: ORB-SLAM2, a complete simultaneous localization and mapping (SLAM) system for monocular, stereo and RGB-D cameras, including map reuse, loop closing, and relocalization capabilities, is presented, being in most cases the most accurate SLAM solution.
Journal ArticleDOI
ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras
Raul Mur-Artal,Juan D. Tardós +1 more
TL;DR: ORB-SLAM2 as mentioned in this paper is a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities.
Journal ArticleDOI
VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator
TL;DR: In this article, a robust and versatile monocular visual-inertial state estimator is presented, which is the minimum sensor suite (in size, weight, and power) for the metric six degrees of freedom (DOF) state estimation.