Visual-inertial SLAM algorithm based on enhanced feature extraction and sensor coupling

• Main Author: Zheng, Yumin
• Other Authors: Xie Lihua
• Format: Thesis-Master by Coursework
• Language: English
• Published: Nanyang Technological University 2022
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: https://hdl.handle.net/10356/158541
• Institution: Nanyang Technological University

Service robots can facilitate people’s lives and perform some highly repetitive tasks. One of the core algorithms of such robots is Simultaneous Localization and Mapping (SLAM) based on vision. However, due to the characteristics of the camera itself, it cannot effectively extract image features in...