RVWO: A Robust Visual-Wheel SLAM System for Mobile Robots in Dynamic Environments
Jaafar Mahmoud,Andrey Penkovskiy,Ha The Long Vuong,Aleksey Burkov,Sergey Kolyubin,Jaafar Mahmoud,Andrey Penkovskiy,Ha The Long Vuong,Aleksey Burkov,Sergey Kolyubin
This paper presents RVWO, a system designed to provide robust localization and mapping for wheeled mobile robots in challenging scenarios. The proposed approach leverages a probabilistic framework that incorporates semantic prior information about landmarks and visual re-projection error to create a landmark reliability model, which acts as an adaptive kernel for the visual residuals in optimizati...
