PL-SVO: Semi-Direct Monocular Visual Odometry by Combining Points and Line Segments
IROS2016 西班牙马拉加大学 首先看系统流程图 主要分为跟踪线程和建图线程两大部分。 跟踪线程 1.基于稀疏模型的图像对齐 设定一个初始位姿 T k , k − 1 T_{k,k-1} Tk,k−1，且已经存在一些空间点线，然后把空间点线投影到当前帧，然后优化当前帧位姿 T k , k − 1 T_{k,k-1} Tk,k−1使得当前帧与参考帧的光度误差最小。关于线特征需要早端点pq之间
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相关文章
- 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. 【论文笔记】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 欧拉回路
- 10. visual slam with lines or combined points and lines学习记录