UPLP-SLAM: Unified point-line-plane feature fusion for RGB-D visual SLAM.
Haozhi YangJing YuanYuanxi GaoXingyu SunXuebo ZhangPublished in: Inf. Fusion (2023)
Keyphrases
- visual slam
- feature fusion
- simultaneous localization and mapping
- monocular slam
- real time
- dynamic environments
- monocular camera
- bundle adjustment
- camera motion
- trifocal tensor
- indoor environments
- multiple features
- ground plane
- feature extraction
- multibody
- three dimensional
- mobile robot
- multi sensor
- feature tracking
- structure from motion
- image features
- point correspondences
- kalman filter
- particle filter
- principal component analysis
- moving objects