Loop closure through vanishing points in a line-based monocular SLAM.

Guoxuan Zhang Dong Hun Kang Il Hong Suh

Published in: ICRA (2012)

Keyphrases

vanishing points
straight line
single image
camera calibration
line segments
single view
ground plane
focal length
multi view
feature matching
fundamental matrix
feature detection
line drawings
closed form
d objects
event detection
real time
hough transform
dynamic environments
image registration
three dimensional