PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments.
Ruben Gomez-OjedaFrancisco Angel MorenoDavide ScaramuzzaJavier González JiménezPublished in: CoRR (2017)
Keyphrases
- line segments
- straight line segments
- simultaneous localization and mapping
- endpoints
- mobile robot
- hough transform
- vanishing points
- ellipse detection
- geometric primitives
- straight line
- digital pictures
- camera pose
- circular arcs
- computer vision
- intersection points
- curve segments
- projective reconstruction
- line correspondences
- data association
- three dimensional
- kalman filter
- particle filter
- image processing
- point features
- perspective images
- stereo vision
- feature points