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...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-08-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/20/17/4666 |