PL-SVO: Semi-direct Monocular Visual Odometry by combining points and line segments.
Ruben Gomez-OjedaJesus BrialesJavier González JiménezPublished in: IROS (2016)
Keyphrases
- line segments
- visual odometry
- camera pose
- straight line segments
- hough transform
- perspective images
- long range
- vanishing points
- ego motion
- depth images
- line correspondences
- autonomous navigation
- kalman filtering
- position information
- stereo camera
- aerial images
- point sets
- three dimensional
- position and orientation
- simultaneous localization and mapping
- structure from motion
- vision system