SLAM

GMC: Grid Based Motion Clustering in Dynamic Environment

Conventional SLAM algorithms takes a strong assumption of scene motionlessness, which limits the application in real environments. This paper tries to tackle the challenging visual SLAM issue of moving objects in dynamic environments. We present GMC, …

Ultra-wideband aided fast localization and mapping system

This paper proposes an ultra-wideband (UWB) aided localization and mapping system that leverages on inertial sensor and depth camera. Inspired by the fact that visual odometry (VO) system, regardless of its accuracy in the short term, still faces …

A Hybrid Feature Parametrization for Improving Stereo-SLAM Consistency

In visual simultaneous localization and mapping (SLAM) field, especially for feature based stereo-SLAM, data association is one of the most important and time-consuming sub-tasks. In this paper, we investigate the roles of different measured features …