PLV-IEKF: Consistent Visual-Inertial Odometry using Points, Lines, and Vanishing Points.
Tong HuaTao LiLiang PangGuoqing LiuWencheng XuanyuanChang ShuLing PeiPublished in: CoRR (2023)
Keyphrases
- vanishing points
- inertial sensors
- straight line
- calibration method
- parallel lines
- camera calibration
- man made environments
- line segments
- vanishing point detection
- single view
- manhattan world
- single image
- camera self calibration
- perspective projection
- focal length
- line drawings
- hough transform
- fundamental matrix
- ground plane
- position and orientation
- feature detection
- closed form
- projective space
- feature points
- computer vision
- feature matching
- calibrated cameras
- object recognition
- three dimensional
- image pairs
- multiscale