GPO: Global Plane Optimization for Fast and Accurate Monocular SLAM Initialization
Sicong Du,Hengkai Guo,Yao Chen,Yilun Lin,Xiangbing Meng,Linfu Wen,Fei-Yue Wang,Sicong Du,Hengkai Guo,Yao Chen,Yilun Lin,Xiangbing Meng,Linfu Wen,Fei-Yue Wang
Initialization is essential to monocular Simultaneous Localization and Mapping (SLAM) problems. This paper focuses on a novel initialization method for monocular SLAM based on planar features. The algorithm starts by homography estimation in a sliding window. It then proceeds to a global plane optimization (GPO) to obtain camera poses and the plane normal. 3D points can be recovered using planar c...
