Integrated metric-topological localization by fusing visual odometry, digital map and place recognition

• Main Authors: Yang, Shuai, Jiang, Rui, Wang, Han, Ge, Sam Shuzhi
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering; Vision-based; Metric
• Online Access: https://hdl.handle.net/10356/140448
• Institution: Nanyang Technological University

Visual odometry, map-assisted methods and place recognition are all popular approaches to localize a mobile vehicle from three different perspectives. Separate implementation of these methods may cause the localization system vulnerable due to the drift issue and local pose estimation of visual odom...