AirVO: An Illumination-Robust Point-Line Visual Odometry
Kuan Xu,Yuefan Hao,Shenghai Yuan,Chen Wang,Lihua Xie,Kuan Xu,Yuefan Hao,Shenghai Yuan,Chen Wang,Lihua Xie
This paper proposes an illumination-robust visual odometry (VO) system that incorporates both accelerated learning-based corner point algorithms and an extended line feature algorithm. To be robust to dynamic illumination, the proposed system employs the convolutional neural network (CNN) and graph neural network (GNN) to detect and match reliable and informative corner points. Then point feature ...
