Incremental 3D Line Segment Extraction from Semi-dense SLAM

  title={Incremental 3D Line Segment Extraction from Semi-dense SLAM},
  author={Shida He and Xuebin Qin and Zichen Zhang and Martin Jagersand},
Although semi-dense Simultaneous Localization and Mapping (SLAM) has been becoming more popular over the last few years, there is a lack of efficient methods for representing and processing their large scale point clouds. In this paper, we propose using 3D line segments to simplify the point clouds generated by semi-dense SLAM. Specifically, we present a novel incremental approach for 3D line segment extraction. This approach reduces a 3D line segment fitting problem into two 2D line segment… CONTINUE READING
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