PL-SLAM: A Stereo SLAM System Through the Combination of Points and Line Segments.
Ruben Gomez-OjedaFrancisco Angel MorenoDavid Zuñiga-NoëlDavide ScaramuzzaJavier González JiménezPublished in: IEEE Trans. Robotics (2019)
Keyphrases
- line segments
- straight line segments
- simultaneous localization and mapping
- endpoints
- mobile robot
- hough transform
- digital pictures
- projective reconstruction
- straight line
- intersection points
- vanishing points
- ellipse detection
- data association
- curve segments
- particle filter
- circular arcs
- geometric primitives
- perspective images
- stereo images
- line correspondences
- three dimensional
- stereo vision
- kalman filter
- object recognition
- stereo camera
- multi camera
- image pairs
- stereo matching
- keypoints
- pose estimation
- video sequences
- computer vision