Improving Visual SLAM in Car-Navigated Urban Environments with Appearance Maps
Alberto Jaenal,David Zuñiga-Nöel,Ruben Gomez-Ojeda,Javier Gonzalez-Jimenez,Alberto Jaenal,David Zuñiga-Nöel,Ruben Gomez-Ojeda,Javier Gonzalez-Jimenez
This paper describes a method that corrects errors of a VSLAM-estimated trajectory for cars driving in GPS-denied environments, by applying constraints from public databases of geo-tagged images (Google Street View, Mapillary, etc). The method, dubbed Appearance-based Geo-Alignment for Simultaneous Localisation and Mapping (AGA-SLAM), encodes the available image database as an appearance map, whic...
