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Title:

Fusion of Monocular Vision and Radio-based Ranging for Global Scale Estimation and Drift Mitigation

Document type:
Working Paper
Author(s):
Young-Hee Lee, Chen Zhu, Gabriele Giorgi, Christoph Günther
Abstract:
Monocular vision-based Simultaneous Localization and Mapping (SLAM) is used for various purposes due to its advantages in cost, simple setup, as well as availability in environments where navigation with satellites is not effective. However, camera motion and map points can be estimated only up to a global scale factor with monocular vision. Moreover, estimation errors accumulate over time without bound, if the camera cannot detect previously observed map points for closing a loop. We propose a...     »
Contracting organization:
arXiv preprint
Year:
2018
Year / month:
2018-10
Language:
en
TUM Institution:
Lehrstuhl für Kommunikation und Navigation
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