Marker-Based Visual SLAM Leveraging Hierarchical Representations
Ali Tourani,Hriday Bavle,Jose Luis Sanchez-Lopez,Rafael Muñoz Salinas,Holger Voos,Ali Tourani,Hriday Bavle,Jose Luis Sanchez-Lopez,Rafael Muñoz Salinas,Holger Voos
Fiducial markers can encode rich information about the environment and aid Visual SLAM (VSLAM) approaches in reconstructing maps with practical semantic information. Current marker-based VSLAM approaches mainly utilize markers for improving feature detections in low-feature environments and/or incorporating loop closure constraints, generating only low-level geometric maps of the environment prone...
