Robust loop closures in 3D mapping systems
Given an image sequence and odometry information from a moving camera, we propose a batch-based approach for robust reconstruction of scene structure and camera motion. A key part of our approach is robust loop closure detection, which is achieved by combining odometry and visual correspondences in...
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| Format: | Dissertation |
| Language: | English |
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University of Oulu
2016
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| Online Access: | http://urn.fi/URN:NBN:fi:oulu-201606042373 http://nbn-resolving.de/urn:nbn:fi:oulu-201606042373 |