2018
A Monocular Indoor Localiser Based on an Extended Kalman Filter and Edge Images from a Convolutional Neural Network
IROS 2018poster
The main contribution of this paper is an extended Kalman filter (EKF)based algorithm for estimating the 6 DOF pose of a camera using monocular images of an indoor environment. In contrast to popular visual simultaneous localisation and mapping algorithms, the technique proposed relies on a pre-buil…