Robust Multi-camera SLAM with Manhattan Constraint toward Automated Valet Parking
Yifei Kang,Yu Song,Wuwei Ge,Tong Ling,Yifei Kang,Yu Song,Wuwei Ge,Tong Ling
We propose a multi-camera simultaneous localization and mapping (SLAM) system using the Manhattan constraint to support automated valet parking. The proposed method uses multiple cameras to expand the system field of view, to improve the robustness of the SLAM system in textureless regions, where point features from different cameras are jointly optimized by a uniform cost function. To improve glo...
