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- W4288100565 abstract "TagSLAM provides a convenient, flexible, and robust way of performing Simultaneous Localization and Mapping (SLAM) with AprilTag fiducial markers. By leveraging a few simple abstractions (bodies, tags, cameras), TagSLAM provides a front end to the GTSAM factor graph optimizer that makes it possible to rapidly design a range of experiments that are based on tags: full SLAM, extrinsic camera calibration with non-overlapping views, visual localization for ground truth, loop closure for odometry, pose estimation etc. We discuss in detail how TagSLAM initializes the factor graph in a robust way, and present loop closure as an application example. TagSLAM is a ROS based open source package and can be found at https://berndpfrommer.github.io/tagslam_web." @default.
- W4288100565 created "2022-07-28" @default.
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- W4288100565 date "2019-10-01" @default.
- W4288100565 modified "2023-09-26" @default.
- W4288100565 title "TagSLAM: Robust SLAM with Fiducial Markers" @default.
- W4288100565 doi "https://doi.org/10.48550/arxiv.1910.00679" @default.
- W4288100565 hasPublicationYear "2019" @default.
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