Recovering Stable Scale in Monocular SLAM Using Object-Supplemented Bundle Adjustment

Without knowledge of the absolute baseline between images, the scale of a map from a single-camera simultaneous localization and mapping system is subject to calamitous drift over time. We describe a monocular approach that in addition to point measurements also considers object detections to resolv...

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Vydáno v:	IEEE transactions on robotics Ročník 34; číslo 3; s. 736 - 747
Hlavní autoři:	Frost, Duncan, Prisacariu, Victor, Murray, David
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York IEEE 01.06.2018 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	Bundle adjustment Cameras Drift monocular vision Object detection object recognition Odometers Roads scale drift Simultaneous localization and mapping simultaneous localization and mapping (SLAM) Trajectory
ISSN:	1552-3098, 1941-0468
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