A Visual Inertial Odometry Framework for 3D Points, Lines and Planes
Shenbagaraj Kannapiran,Jeroen van Baar,Spring Berman,Shenbagaraj Kannapiran,Jeroen van Baar,Spring Berman
Recovering rigid registration between successive camera poses lies at the heart of 3D reconstruction, SLAM and visual odometry. Registration relies on the ability to compute discriminative 2D features in successive camera images for determining feature correspondences, which is very challenging in feature-poor environments, i.e. low-texture and/or low-light environments. In this paper, we aim to a...
