Robust Visual Odometry Leveraging Mixture of Manhattan Frames in Indoor Environments

Robust Visual Odometry Leveraging Mixture of Manhattan Frames in Indoor Environments

We propose a robust RGB-Depth (RGB-D) Visual Odometry (VO) system to improve the localization performance of indoor scenes by using geometric features, including point and line features. Previous VO/Simultaneous Localization and Mapping (SLAM) algorithms estimate the low-drift camera poses with the...

Full description

Bibliographic Details
Main Authors: Huayu Yuan, Chengfeng Wu, Zhongliang Deng, Jiahui Yin
Format: Article
Language:English
Published: MDPI AG 2022-11-01
Series:Sensors
Subjects:
SLAM
localization
mapping
Online Access:https://www.mdpi.com/1424-8220/22/22/8644

Internet

https://www.mdpi.com/1424-8220/22/22/8644

Similar Items