Stereo Plane SLAM Based on Intersecting Lines
Xiaoyu Zhang,Wei Wang,Xianyu Qi,Ziwei Liao,Xiaoyu Zhang,Wei Wang,Xianyu Qi,Ziwei Liao
Plane features can be used to reduce drift errors in SLAM systems, especially in indoor environments. It is easy and efficient to extract planes from a dense point cloud, which is commonly generated from a RGB-D camera or a 3D lidar. But when using a stereo camera, it is hard to compute dense point clouds accurately or efficiently. In this paper, we propose a novel method to compute plane paramete...
