Monocular visual-inertial SLAM algorithm combined with wheel speed anomaly detection

To address the weak observability of monocular visual-inertial odometers on ground-based mobile robots, this paper proposes a monocular inertial SLAM algorithm combined with wheel speed anomaly detection. The algorithm uses a wheel speed odometer pre-integration method to add the wheel speed measure...

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Hauptverfasser:	Gang, Peng, Zezao, Lu, Shanliang, Chen, Bocheng, Chen, Dingxin, He
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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