Reducing mismatching under time-pressure by reasoning about visibility and occlusion
Three methods are explored which help indicate whether feature points are potentially visible or occluded in the matching phase of the keyframe-based real-time visual SLAM system. The first derives a measure of potential visibility from the angular proximity to keyframes in which they were observed...
Main Authors: | Wangsiripitak, S, Murray, D |
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Format: | Conference item |
Published: |
British Machine Vision Association, BMVA
2010
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