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Direct line guidance odometry

Abstract:

Modern visual odometry algorithms utilize sparse point-based features for tracking due to their low computational cost. Current state-of-the-art methods are split between indirect methods that process features extracted from the image, and indirect methods that deal directly on pixel intensities. In recent years, line-based features have been used in SLAM and have shown an increase in performance albeit with an increase in computational cost. In this paper, we propose an extension to a point-...

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Publication status:
Published
Peer review status:
Peer reviewed
Version:
Accepted manuscript

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Publisher copy:
10.1109/ICRA.2018.8461003

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Publisher:
Institute of Electrical and Electronics Engineers Publisher's website
Publication date:
2018-09-13
Acceptance date:
2018-01-15
DOI:
ISSN:
1050-4729
Pubs id:
pubs:929706
URN:
uri:f8b6d16e-07b4-4432-bc6e-6dddccaca511
UUID:
uuid:f8b6d16e-07b4-4432-bc6e-6dddccaca511
Local pid:
pubs:929706

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