Linear RGB-D SLAM for Atlanta World
Kyungdon Joo,Tae-Hyun Oh,Francois Rameau,Jean-Charles Bazin,In So Kweon,Kyungdon Joo,Tae-Hyun Oh,Francois Rameau,Jean-Charles Bazin,In So Kweon
We present a new linear method for RGB-D based simultaneous localization and mapping (SLAM). Compared to existing techniques relying on the Manhattan world assumption defined by three orthogonal directions, our approach is designed for the more general scenario of the Atlanta world. It consists of a vertical direction and a set of horizontal directions orthogonal to the vertical direction and thus...
