LAYOUT SLAM WITH MODEL BASED LOOP CLOSURE FOR 3D INDOOR CORRIDOR RECONSTRUCTION
In this paper, we extend a recently proposed visual Simultaneous Localization and Mapping (SLAM) techniques, known as Layout SLAM, to make it robust against error accumulations, abrupt changes of camera orientation and miss-association of newly visited parts of the scene to the previously visited la...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2018-05-01
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| Series: | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/IV-2/25/2018/isprs-annals-IV-2-25-2018.pdf |