Robust Visual Odometry Leveraging Mixture of Manhattan Frames in Indoor Environments

We propose a robust RGB-Depth (RGB-D) Visual Odometry (VO) system to improve the localization performance of indoor scenes by using geometric features, including point and line features. Previous VO/Simultaneous Localization and Mapping (SLAM) algorithms estimate the low-drift camera poses with the...

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Detalles Bibliográficos
Autores principales: Yuan, Huayu, Wu, Chengfeng, Deng, Zhongliang, Yin, Jiahui
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9698556/
https://www.ncbi.nlm.nih.gov/pubmed/36433239
http://dx.doi.org/10.3390/s22228644

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9698556/
https://www.ncbi.nlm.nih.gov/pubmed/36433239
http://dx.doi.org/10.3390/s22228644

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