Multi-Parameter Optimization for a Robust RGB-D SLAM System
Yizhao Wang Xiaoxiao Zhu Guohan He Qixin Cao Yizhao Wang Xiaoxiao Zhu Guohan He Qixin Cao
SLAM systems can retrieve their metric scales and depth information using RGB-D cameras. However, limited by the sensing range and objects structure, RGB-D cameras can not always work well, resulting in failures sometimes. In this work, we present initialization and localization methods based on maximum-a-posteriori estimation. Our system endows monocular keypoints with valid depth values and intr...