To address the problem of estimating camera trajectory and to build a structural three-
dimensional (3D) map based on inertial measurements and visual observations, this paper …

In this letter a low-drift monocular SLAM method is proposed targeting indoor scenarios,
where monocular SLAM often fails due to the lack of textured surfaces. Our approach …

We present a heterogeneous landmark-based visual navigation approach for a monocular
mobile robot. We utilize heterogeneous visual features, such as points, line segments, lines …

Large lighting variation challenges all visual odometry methods, even with RGB-D cameras.
Here we propose a line segment-based RGB-D indoor odometry algorithm robust to lighting …

This work proposes a novel visual Simultaneous Localisation and Map** (vSLAM)
approach for robots in sewer pipe networks. One problem of vSLAM in pipes is that the scale …

In complex urban environments, the GNSS/INS integration diverges over time when severe
GNSS degradation occurs due to the harsh environment. Based on visual point features, the …

In mobile robotics, feature based maps are very popular for the representation of the
environment. Some of the main advantages of these maps are final compactness and …