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

22 Mar 2020 Gang Peng Zezao Lu Shanliang Chen Bocheng Chen Dingxin He

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 measurement to the least-squares problem in a tightly coupled manner... (read more)

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  • ROBOTICS