VP-SLAM: A Monocular Real-time Visual SLAM with Points, Lines and Vanishing Points.
Andreas GeorgisPanagiotis MermigkasPetros MaragosPublished in: CoRR (2022)
Keyphrases
- visual slam
- vanishing points
- real time
- monocular camera
- ground plane
- straight line
- single image
- camera calibration
- single view
- dynamic environments
- simultaneous localization and mapping
- camera motion
- line segments
- bundle adjustment
- calibrated cameras
- feature points
- multi view
- fundamental matrix
- feature matching
- closed form
- focal length
- stereo rig
- line drawings
- visual odometry
- feature detection
- camera parameters
- multibody
- multiple views
- multiple cameras
- multiple images
- structure from motion
- multi camera
- data association
- mobile robotics
- particle filter
- vision system
- mobile robot
- optical flow
- image sequences
- computer vision