PLV-IEKF: Consistent Visual-Inertial Odometry using Points, Lines, and Vanishing Points.
Tong HuaTao LiLiang PangGuoqing LiuWencheng XuanyuanChang ShuLing PeiPublished in: ROBIO (2023)
Keyphrases
- vanishing points
- inertial sensors
- straight line
- calibration method
- single image
- parallel lines
- camera calibration
- single view
- camera self calibration
- vanishing point detection
- perspective projection
- manhattan world
- line segments
- man made environments
- ground plane
- line drawings
- fundamental matrix
- feature detection
- closed form
- invariant features
- projective space
- feature matching
- hough transform
- calibrated cameras
- focal length
- feature points
- position and orientation
- viewpoint