Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features.
Hyunjun LimYeeun KimKwangyik JungSumin HuHyun MyungPublished in: ICRA (2021)
Keyphrases
- visual slam
- line features
- camera motion
- camera pose
- bundle adjustment
- image sequences
- real time
- structure from motion
- multiple views
- ego motion
- dynamic environments
- video sequences
- motion parameters
- epipolar geometry
- moving camera
- optical flow
- image features
- scene structure
- moving objects
- viewpoint
- multibody
- semi supervised
- camera parameters
- mobile robot
- uncalibrated cameras
- single image
- three dimensional