Fast Odometry Integration in Local Bundle Adjustment-Based Visual SLAM

The Simultaneous Localisation And Mapping (SLAM) for a camera moving in a scene is a long term research problem. Here we improve a recent visual SLAM which applies Local Bundle Adjustments (LBA) on selected key-frames of a video: we show how to correct the scale drift observed in long monocular video sequence using an additional odometry sensor. Our method… CONTINUE READING