Omnidirectional visual SLAM under severe occlusions ?
SLAM algorithm (OV-FastSLAM) for omnivision cameras under severe occlusions. Hierarchical data association: global and keeps multiple associations per particle. Estimates the likelihood between a measurement and a landmark without 3D position. Deep experimental study on the influence of severe occlusions of different degrees.
severe occlusions hierarchical data association omnidirectional cameras bearing-only visual slam