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Densifying Sparse VIO: a Mesh-based approach using Structural Regularities
(2018)The ideal vision system for an autonomous robot would not only provide the robot’s position and orientation (localization), but also an accurate and complete model of the scene (mapping). While localization information allows for controlling the robot, a map of the scene allows for collision-free navigation; combined, a robot can achieve full autonomy. Visual Inertial Odometry (VIO) algorithms have shown impressive localization results ...Master Thesis