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Globally optimal consensus maximization for robust visual inertial localization in point and line map.
Yanmei Jiao
Yue Wang
Bo Fu
Qimeng Tan
Lei Chen
Minhang Wang
Shoudong Huang
Rong Xiong
Published in:
IROS (2020)
Keyphrases
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globally optimal
global optimality
graph cuts
line features
locally optimal
optimal decisions
visual information
surface segmentation
visual features
localization method
line segments
convex relaxation
accurate localization
window search
dynamic model