Lidar-Monocular Visual Odometry using Point and Line Features
Shi-Sheng Huang,Ze-Yu Ma,Tai-Jiang Mu,Hongbo Fu,Shi-Min Hu,Shi-Sheng Huang,Ze-Yu Ma,Tai-Jiang Mu,Hongbo Fu,Shi-Min Hu
We introduce a novel lidar-monocular visual odometry approach using point and line features. Compared to previous point-only based lidar-visual odometry, our approach leverages more environment structure information by introducing both point and line features into pose estimation. We provide a robust method for point and line depth extraction, and formulate the extracted depth as prior factors for...
