Lidar-Monocular Visual Odometry using Point and Line Features.
Shi-Sheng HuangZe-Yu MaTai-Jiang MuHongbo FuShi-Min HuPublished in: ICRA (2020)
Keyphrases
- visual odometry
- line features
- camera pose
- structure from motion
- pose estimation
- position and orientation
- bundle adjustment
- camera motion
- point correspondences
- feature points
- line correspondences
- urban environments
- point cloud
- ego motion
- focal length
- autonomous navigation
- single view
- urban areas
- camera calibration
- camera parameters
- image features
- closed form solutions
- high resolution
- depth images
- line segments
- image sequences
- simultaneous localization and mapping
- multiple views
- optical flow
- indoor environments
- multi view
- epipolar geometry
- motion parameters
- motion analysis
- field of view
- point sets
- computer vision