Fusion of a panoramic camera and 2D laser scanner data for constrained bundle adjustment in GPS-denied environments

作者：

Highlights：

• Accurate scale is estimated with laser data and features extracted from camera.

• Many more loop closures are detected by sensor than that of camera-only methods.

• Scale and loop closure geometric constraints are enforced on Constrained Bundle Adjustment, which produces a robust pose estimate.

• Experiments show that the proposed method is practicable and more accurate than vision-only methods.

摘要

•Accurate scale is estimated with laser data and features extracted from camera.•Many more loop closures are detected by sensor than that of camera-only methods.•Scale and loop closure geometric constraints are enforced on Constrained Bundle Adjustment, which produces a robust pose estimate.•Experiments show that the proposed method is practicable and more accurate than vision-only methods.

论文关键词：Panoramic camera,Laser,Sensor fusion,Constrained bundle adjustment

论文评审过程：Received 15 November 2013, Revised 24 April 2015, Accepted 10 June 2015, Available online 18 June 2015, Version of Record 27 June 2015.

论文官网地址：https://doi.org/10.1016/j.imavis.2015.06.002