UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping.
Hyunjun LimJinwoo JeonHyun MyungPublished in: CoRR (2021)
Keyphrases
- vanishing points
- loop closing
- simultaneous localization and mapping
- mobile robot
- straight line
- vanishing point detection
- parallel lines
- camera calibration
- line segments
- single image
- particle filter
- manhattan world
- single view
- man made environments
- feature matching
- ground plane
- multi view
- line drawings
- camera self calibration
- fundamental matrix
- focal length
- feature detection
- real time