Accurate Direct Visual-Laser Odometry with Explicit Occlusion Handling and Plane Detection
文章目錄 遮擋估計 平面估計 基於單應矩陣的光度誤差 兩步優化 結合直接法SLAM和點到平面icp的視覺-激光SLAM，利用平面信息來解決激光相較圖像稀疏，無法構成完整約束的問題。 遮擋估計 在直接法SLAM中，一個重要的問題是因爲遮擋導致無法進行像素匹配。本文對激光每一行的點進行處理，當對上一個的觀測加上位移之後，出現如下的順序交換時，認爲3，4兩個點被遮擋。位移包括相機的自運動和相機到
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