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Direct Monocular Odometry Using Points and Lines
[article]
2017
arXiv
pre-print
Most visual odometry algorithm for a monocular camera focuses on points, either by feature matching, or direct alignment of pixel intensity, while ignoring a common but important geometry entity: edges. In this paper, we propose an odometry algorithm that combines points and edges to benefit from the advantages of both direct and feature based methods. It works better in texture-less environments and is also more robust to lighting changes and fast motion by increasing the convergence basin. We
arXiv:1703.06380v1
fatcat:youkvl3dlbfpfjydgmiltxxez4