DPLVO: Direct Point-Line Monocular Visual Odometry.
Lipu ZhouShengze WangMichael KaessPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- visual odometry
- autonomous navigation
- long range
- camera pose
- ego motion
- kalman filtering
- depth images
- position information
- line segments
- simultaneous localization and mapping
- optical flow
- mobile robot
- image sequences
- range data
- field of view
- camera calibration
- urban environments
- d scene
- structure from motion
- pose estimation
- extended kalman filter
- particle filter