PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Point and Line.
Qiang FuJialong WangHongshan YuIslam AliFeng GuoHong ZhangPublished in: CoRR (2020)
Keyphrases
- visual slam
- real time
- visual odometry
- inertial sensors
- monocular camera
- monocular slam
- visual sensor
- simultaneous localization and mapping
- ego motion
- sensor fusion
- mobile robot
- visual information
- image sequences
- position and orientation
- motion tracking
- autonomous navigation
- pose estimation
- dynamic environments
- vision system
- visual cues
- line segments
- visual feedback
- control system
- camera tracking
- object and scene recognition
- model based tracking
- markerless
- camera pose
- state space