VIP-SLAM: An Efficient Tightly-Coupled RGB-D Visual Inertial Planar SLAM
Danpeng Chen,Shuai Wang,Weijian Xie,Shangjin Zhai,Nan Wang,Hujun Bao,Guofeng Zhang,Danpeng Chen,Shuai Wang,Weijian Xie,Shangjin Zhai,Nan Wang,Hujun Bao,Guofeng Zhang
In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of map points bring us a high computational complexity, making it difficult to be deployed on mobile devices. On the other hand, planes are common structures in ma...
