PL-SLAM: Real-time monocular visual SLAM with points and lines

@article{Pumarola2017PLSLAMRM,
  title={PL-SLAM: Real-time monocular visual SLAM with points and lines},
  author={Albert Pumarola and Alexander T. Vakhitov and Antonio Agudo and Alberto Sanfeliu and Francesc Moreno-Noguer},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2017},
  pages={4503-4508}
}
Low textured scenes are well known to be one of the main Achilles heels of geometric computer vision algorithms relying on point correspondences, and in particular for visual SLAM. Yet, there are many environments in which, despite being low textured, one can still reliably estimate line-based geometric primitives, for instance in city and indoor scenes, or in the so-called “Manhattan worlds”, where structured edges are predominant. In this paper we propose a solution to handle these situations… CONTINUE READING
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