Probabilistic RGB-D odometry based on points, lines and planes under depth uncertainty.
Pedro F. ProençaYang GaoPublished in: Robotics Auton. Syst. (2018)
Keyphrases
- uncertain data
- parallel planes
- vanishing points
- depth images
- depth information
- depth data
- projective space
- conditional probabilities
- planar surfaces
- depth cameras
- straight line
- microsoft kinect
- probability theory
- probabilistic model
- point sets
- handling uncertainty
- data points
- three dimensional
- decision theory
- point correspondences
- hough transform
- bayesian networks
- point features
- straight line segments
- visual odometry
- measurement error
- depth map
- d objects