B-splines for Purely Vision-based Localization and Mapping on Non-holonomic Ground Vehicles
Kun Huang Yifu Wang Laurent Kneip Kun Huang Yifu Wang Laurent Kneip
Purely vision-based localization and mapping is a cost-effective and thus attractive solution to localization and mapping on smart ground vehicles. However, the accuracy and especially robustness of vision-only solutions remain rivalled by more expensive, lidar-based multi-sensor alternatives. We show that a significant increase in robustness can be achieved if taking non-holonomic kinematic const...