Accurate Direct Visual-Laser Odometry with Explicit Occlusion Handling and Plane Detection
文章目录 遮挡估计 平面估计 基于单应矩阵的光度误差 两步优化 结合直接法SLAM和点到平面icp的视觉-激光SLAM，利用平面信息来解决激光相较图像稀疏，无法构成完整约束的问题。 遮挡估计 在直接法SLAM中，一个重要的问题是因为遮挡导致无法进行像素匹配。本文对激光每一行的点进行处理，当对上一个的观测加上位移之后，出现如下的顺序交换时，认为3，4两个点被遮挡。位移包括相机的自运动和相机到
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相关文章
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