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- W2771437849 abstract "ORB-SLAM2 is one of the better-known open source SLAM implementations available. However, the dependence of visual features causes it to fail in featureless environments. With the present work, we propose a new technique to improve visual odometry results given by ORB-SLAM2 using a tightly Sensor Fusion approach to integrate camera and odometer data. In this work, we use odometer readings to improve the tracking results by adding graph constraints between frames and introduce a new method for preventing the tracking loss. We test our method using three different datasets, and show an improvement in the estimated trajectory, allowing a continuous tracking without losses." @default.
- W2771437849 created "2017-12-22" @default.
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- W2771437849 date "2017-11-01" @default.
- W2771437849 modified "2023-10-03" @default.
- W2771437849 title "ORB-ODOM: Stereo and odometer sensor fusion for simultaneous localization and mapping" @default.
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- W2771437849 doi "https://doi.org/10.1109/sbr-lars-r.2017.8215301" @default.
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