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Robust RGB-D SLAM Using Point and Line Features for Low Textured Scene
2020
Sensors
Preserved Fulltext
Three-dimensional (3D) reconstruction using RGB-D camera with simultaneous color image and depth information is attractive as it can significantly reduce the cost of equipment and time for data collection ...
To comprehensively fuse line constraints, we combine 2D and 3D line reprojection error with point reprojection error in a novel cost function. ...
[19] presented Canny-VO, which extract Canny edge features and calculate the camera pose based on 3D-2D edge alignment. ...
doi:10.3390/s20174984
pmid:32887486
pmcid:PMC7506666
fatcat:cb2i7owb35ckncvuieordyai2e
DEVO: Depth-Event Camera Visual Odometry in Challenging Conditions
[article]
2022
arXiv
pre-print
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The tracking module updates the camera pose through efficient, geometric semi-dense 3D-2D edge alignment. ...
We extend conventional edge-based semi-dense visual odometry towards time-surface maps obtained from event streams. ...
Our method relies on an approach similar to Canny-VO [7] and extracts edges from the event stream, assigns depth from the depth camera, and registers subsequent views by 3D-2D edge alignment. ...
arXiv:2202.02556v1
fatcat:2xluffdkj5ehrdca7c2gpcwcfy
Information-Driven Direct RGB-D Odometry
2020
2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
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This paper presents an information-theoretic approach to point selection for direct RGB-D odometry. ...
It is usual practice in visual odometry/SLAM to track several hundreds of points, achieving real-time performance in high-end desktop PCs. ...
Firstly, against Canny-VO [29], a recent RGB-D odometry based on geometric edge alignment. ...
doi:10.1109/cvpr42600.2020.00498
dblp:conf/cvpr/FontanCT20
fatcat:jyfa2vobwff5jk6wxq53ghegsa
Exploiting Structural Regularities and Beyond: Vision-based Localization and Mapping in Man-Made Environments
[article]
2019
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Image-based estimation of camera motion, known as visual odometry (VO), plays a very important role in many robotic applications such as control and navigation of unmanned mobile robots, especially when ...
— one of the key problems in the event-based VO/SLAM. ...
Kneip, "Canny-VO: Visual Odometry with RGB-D Cameras based on Geometric 3D-2D Edge Alignment," accepted by IEEE T-RO (published as Early Access by far). -Zhou et al. [2018a] Y.Zhou, G. Gallego, H. ...
doi:10.25911/5c4834e66bce8
fatcat:w25bfinedfdnpj3yi2t2f7by2q