AN INDOOR SLAM METHOD BASED ON KINECT AND MULTI-FEATURE EXTENDED INFORMATION FILTER
Based on the frame of ORB-SLAM in this paper the transformation parameters between adjacent Kinect image frames are computed using ORB keypoints, from which priori information matrix and information vector are calculated. The motion update of multi-feature extended information filter is then reali...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2017-09-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLII-2-W7/327/2017/isprs-archives-XLII-2-W7-327-2017.pdf |