A FREQUENCY-DRIFT COMPENSATED CLOSED-FORM SOLUTION FOR STEREO RGB-D MAPPING
In this work, we present a frequency-drift compensated (Fd-C) closed-form solution for stereo RGB-D SLAM. The intrinsic parameters for each sensor are first obtained with a standard camera calibration process and the extrinsic orientation parameters achieved through a coarse-to-fine scheme that solv...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2019-05-01
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| Series: | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/IV-2-W5/293/2019/isprs-annals-IV-2-W5-293-2019.pdf |