Robust localization for planar moving robot in changing environment: A perspective on density of correspondence and depth
Yanmei Jiao Lilu Liu Bo Fu Xiaqing Ding Minhang Wang Yue Wang Rong Xiong Yanmei Jiao Lilu Liu Bo Fu Xiaqing Ding Minhang Wang Yue Wang Rong Xiong
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm which leverages dense correspondence and sparse depth for planar moving robot is proposed. The key component is a minimal solution which computes the absolute camer...