Online three-dimensional SLAM by registration of large planar surface segments and closed-form pose-graph relaxation.
Kaustubh PathakAndreas BirkNarunas VaskeviciusMax PfingsthornSören SchwertfegerJann PoppingaPublished in: J. Field Robotics (2010)
Keyphrases
- closed form
- planar surfaces
- three dimensional
- image pairs
- d objects
- pose estimation
- rigid motion
- perspective projection
- multiple views
- depth images
- point correspondences
- image registration
- vanishing points
- multi view
- particle filter
- closed form solutions
- stereo images
- d scene
- point cloud
- flow field
- single view
- input image
- image sequences
- single image
- computer vision
- viewpoint