Line-based monocular graph SLAM.
Dong RuifangVincent FrémontSimon LacroixIsabelle FantoniChangan LiuPublished in: MFI (2017)
Keyphrases
- visual slam
- mobile robot
- random walk
- graph structure
- visual odometry
- image sequences
- simultaneous localization and mapping
- graph model
- weighted graph
- directed graph
- line segments
- graph representation
- connected components
- graph theory
- dynamic environments
- spanning tree
- data association
- graph theoretic
- particle filter
- depth cues
- image segmentation
- topological map
- stereo camera
- real time
- bipartite graph
- optical flow