作者: Amir Geva , Gil Briskin , Ehud Rivlin , Hector Rotstein
DOI: 10.1109/ICRA.2015.7139758
关键词:
摘要: Bundle Adjustment is the current state of art method for solving simultaneous localization and mapping problem. This problem important robots, most acute flying robots that cannot rely on ground odometry. The solution requires additional information to resolve scale, implementations either assume relatively accurate pose exists, or utilize GPS IMU sensors. paper presents an alternative approach incorporates Digital Terrain Model constraints into algorithm, enabling correct resolution scale even in absence information. It shown, multiple test scenarios, this algorithm provides estimations do not diverge with time exceed, accuracy, underlying sampled terrain.