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A Robust Pavement Mapping System Based on Normal-Constrained Stereo Visual Odometry
[article]
2019
arXiv
pre-print
Pavement condition is crucial for civil infrastructure maintenance. This task usually requires efficient road damage localization, which can be accomplished by the visual odometry system embedded in unmanned aerial vehicles (UAVs). However, the state-of-the-art visual odometry and mapping methods suffer from large drift under the degeneration of the scene structure. To alleviate this issue, we integrate normal constraints into the visual odometry process, which greatly helps to avoid large
arXiv:1910.13102v1
fatcat:dbdtmayivfhwrkpbc2kzdbkiue