PL-SVO: Semi-Direct Monocular Visual Odometry by Combining Points and Line Segments
IROS2016 西班牙馬拉加大學 首先看系統流程圖 主要分爲跟蹤線程和建圖線程兩大部分。 跟蹤線程 1.基於稀疏模型的圖像對齊 設定一個初始位姿 T k , k − 1 T_{k,k-1} Tk,k−1，且已經存在一些空間點線，然後把空間點線投影到當前幀，然後優化當前幀位姿 T k , k − 1 T_{k,k-1} Tk,k−1使得當前幀與參考幀的光度誤差最小。關於線特徵需要早端點pq之間
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相關文章
- 1. REAL-TIME MONOCULAR VISUAL SLAM BY COMBINING POINTS AND LINES
- 2. LIMO: Lidar-Monocular Visual Odometry
- 3. PL-VIO: Tightly-Coupled Monocular Visual–Inertial Odometry Using Point and Line Features
- 4. ???Line Segments Clipped by Windows
- 5. Hand-held Monocular SLAM Based on Line Segments
- 6. LVO: Line only stereo Visual Odometry
- 7. 【論文筆記】PL-SLAM: Real-Time Monocular Visual SLAM with Points and Lines（2017）
- 8. D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometry
- 9. 【CF429E】Points and Segments 歐拉回路
- 10. visual slam with lines or combined points and lines學習記錄