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SLC-VIO: a stereo visual-inertial odometry based on structural lines and points belonging to lines.
Chenchen Wei
Yanfeng Tang
Lingfang Yang
Zhi Huang
Published in:
Robotica (2022)
Keyphrases
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straight line
geometric invariants
computer vision
hough transform
point sets
straight line segments
keypoints
line drawings
vanishing points
inertial sensors
low level
visual information
kalman filter
visual features
image pairs
epipolar lines
contour lines