Robust stereo visual odometry through a probabilistic combination of points and line segments.
Ruben Gomez-OjedaJavier González JiménezPublished in: ICRA (2016)
Keyphrases
- line segments
- visual odometry
- camera pose
- straight line segments
- hough transform
- vanishing points
- autonomous navigation
- long range
- stereo vision
- ego motion
- camera calibration
- three dimensional
- aerial images
- point sets
- robust estimation
- computer vision
- stereo matching
- simultaneous localization and mapping
- feature points