Outdoor place recognition in urban environments using straight lines

  title={Outdoor place recognition in urban environments using straight lines},
  author={Jin Han Lee and Sehyung Lee and Guoxuan Zhang and Jongwoo Lim and Wan Kyun Chung and Il Hong Suh},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
In this paper, we propose a visual place recognition algorithm which uses only straight line features in challenging outdoor environments. Compared to point features used in most existing place recognition methods, line features are easily found in man-made environments and more robust to environmental changes such as illumination, viewing direction, or occlusion because they are more likely to be extracted from structures. Candidate matches are found using a vocabulary tree and their geometric… CONTINUE READING
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