Enhancing Robustness of Line Tracking Through Semi-Dense Epipolar Search in Line-Based SLAM
Dong-Uk Seo,Hyungtae Lim,Eungchang Mason Lee,Hyunjun Lim,Hyun Myung,Dong-Uk Seo,Hyungtae Lim,Eungchang Mason Lee,Hyunjun Lim,Hyun Myung
Line information from urban structures can be exploited as an additional geometrical feature to achieve robust vision-based simultaneous localization and mapping (SLAM) systems in textureless scenes. Sometimes, however, conventional line tracking methods fail to track caused by image blur or occlusion. Even though these lost line features are just a subset of plenty of features, the failure in fea...
