Feature-based Visual Odometry and Featureless Place Recognition for SLAM in 2.5D Environments
نویسندگان
چکیده
In this paper we present work integrating the robust sequence-based recognition capabilities of the RatSLAM system with the accurate 3D metric properties of a multicamera visual odometry system. The RatSLAM system provides scene sequence recognition capabilities that are not feature dependent, while the multicamera visual odometry system provides accurate and metric 3D motion information which only relies on being able to detect features consistently over short periods of time. We present mapping results using both the new integrated system and the previous RatSLAM-only system for a 1300 metre 3D dataset acquired in a busy and challenging environment. The integration of an accurate visual odometry system results in significant improvements in map quality.
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