A Monocular Visual-Inertial SLAM System Through the Combination of Points and Line Segments.
Xunjian YangHanbin XuYiying WeiYuyun ZhangPublished in: RICAI (2023)
Keyphrases
- line segments
- perspective images
- straight line segments
- endpoints
- vanishing points
- visual odometry
- camera pose
- hough transform
- straight line
- intersection points
- curve segments
- geometric primitives
- projective reconstruction
- visual slam
- circular arcs
- digital pictures
- inertial sensors
- image sequences
- point features
- mobile robot
- line correspondences
- simultaneous localization and mapping
- ellipse detection
- camera calibration
- image processing
- affinity measure
- linear features
- geometric constraints
- pose estimation
- feature points
- optical flow
- concentric circles