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

• Main Authors: Yang, Shuai, Jiang, Rui, Wang, Han, Ge, Sam Shuzhi
• 其他作者: School of Electrical and Electronic Engineering
• 格式: Conference or Workshop Item
• 語言: English
• 出版: 2020
• 主題: Engineering::Electrical and electronic engineering; Vision-based; Metric
• 在線閱讀: https://hdl.handle.net/10356/140448

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...