Visual-Inertial RGB-D SLAM With Encoders for a Differential Wheeled Robot

Recent years have seen multiple impressive results in visual-inertial odometry (VIO) techniques, by which accurate state estimation can be achieved via the extended Kalman filter (EKF) or nonlinear optimization. However, these approaches are rarely open source, and they tend to fail in real experime...

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Veröffentlicht in:	IEEE sensors journal 2022-03, Vol.22 (6), p.5360-5371
Hauptverfasser:	Zhu, Zhanghao, Kaizu, Yutaka, Furuhashi, Kenichi, Imou, Kenji
Format:	Artikel
Sprache:	eng
Schlagworte:	Cameras Coders Datasets Encoder Extended Kalman filter Global Positioning System Jacobians Mobile robots Optimization Robot vision systems Robots Root-mean-square errors sensor fusion Sensors Simultaneous localization and mapping Source code State estimation visual-inertial odometry
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