@inproceedings{501ae551cf2c4299b0164c8ecd749a45,
title = "Camera Ego-Positioning Using Sensor Fusion and Complementary Method",
abstract = "Visual simultaneous localization and mapping (SLAM) is a common solution for camera ego-positioning. However, SLAM sometimes loses tracking, for instance due to fast camera motion or featureless or repetitive environments. To account for the limitations of visual SLAM, we use sensor fusion method to fuse the visual positioning results with inertial measurement unit (IMU) data based on filter-based, loosely-coupled sensor fusion methods, and further combines feature-based SLAM with direct SLAM via proposed complementary fusion to retain the advantages of both methods; i.e., we not only keep the accurate positioning of feature-based SLAM but also account for its difficulty with featureless scenes by direct SLAM. Experimental results show that the proposed complementary method improves the positioning accuracy of conventional vision-only SLAM and leads to more robust positioning results.",
keywords = "Camera ego-positioning, Sensor fusion",
author = "Kao, {Peng Yuan} and Tseng, {Kuan Wei} and Shen, {Tian Yi} and Song, {Yan Bin} and Chen, {Kuan Wen} and Hu, {Shih Wei} and Shih, {Sheng Wen} and Hung, {Yi Ping}",
note = "Publisher Copyright: {\textcopyright} 2021, Springer Nature Switzerland AG.; 25th International Conference on Pattern Recognition Workshops, ICPR 2020 ; Conference date: 10-01-2021 Through 11-01-2021",
year = "2021",
month = jan,
doi = "10.1007/978-3-030-68796-0_21",
language = "English",
isbn = "9783030687953",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "291--304",
editor = "{Del Bimbo}, Alberto and Rita Cucchiara and Stan Sclaroff and Farinella, {Giovanni Maria} and Tao Mei and Marco Bertini and Escalante, {Hugo Jair} and Roberto Vezzani",
booktitle = "Pattern Recognition. ICPR International Workshops and Challenges, 2021, Proceedings",
address = "德國",
}