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    Visual odometry using RGB-D camera on ceiling vision by Wang, Han, Mou, Wei, Suratno, Hendra, Seet Gim Lee, Gerald, Li, Maohai, Lau, Michael Wai Shing, Wang, Danwei

    Published 2013
    “…The principal direction is defined based on the fact that our ceiling is filled with artificial vertical and horizontal lines and these lines can be used as reference for the current robot's heading direction. …”
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    Conference Paper