Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features.
Hyunjun LimYeeun KimKwangyik JungSumin HuHyun MyungPublished in: CoRR (2021)
Keyphrases
- visual slam
- line features
- camera motion
- real time
- bundle adjustment
- image sequences
- dynamic environments
- camera pose
- structure from motion
- optical flow
- ego motion
- moving camera
- motion parameters
- video sequences
- image features
- simultaneous localization and mapping
- scene structure
- multiple views
- epipolar geometry
- feature points
- indoor environments
- mobile robot
- moving objects
- autocalibration
- multi view
- uncalibrated cameras
- semi supervised