2 papers
cs.RO2019
Illumination Robust Loop Closure Detection with the Constraint of Pose
Deli Yan, Wenkun Tuo, Weiming Wang +1
Background: Loop closure detection is a crucial part in robot navigation and simultaneous location and mapping (SLAM). Appearance-based loop closure detection still faces many chal…
cs.RO2019
Invariant Cubature Kalman Filter for Monocular Visual Inertial Odometry with Line Features
Deli Yan, Chunhui Wu, Weiming Wang +2
To achieve robust and accurate state estimation for robot navigation, we propose a novel Visual Inertial Odometry(VIO) algorithm with line features upon the theory of invariant Kal…