EDPLVO: Efficient Direct Point-Line Visual Odometry
Lipu Zhou,Guoquan Huang,Yinian Mao,Shengze Wang,Michael Kaess,Lipu Zhou,Guoquan Huang,Yinian Mao,Shengze Wang,Michael Kaess
This paper introduces an efficient direct visual odometry (VO) algorithm using points and lines. Pixels on lines are generally adopted in direct methods. However, the original photometric error is only defined for points. It seems difficult to extend it to lines. In previous works, the collinear constraints for points on lines are either ignored [1] or introduce heavy computational load into the r...
