Stereo Visual Odometry with Deep Learning-Based Point and Line Feature Matching Using an Attention Graph Neural Network
Shenbagaraj Kannapiran,Nalin Bendapudi,Ming-Yuan Yu,Devarth Parikh,Spring Berman,Ankit Vora,Gaurav Pandey,Shenbagaraj Kannapiran,Nalin Bendapudi,Ming-Yuan Yu,Devarth Parikh,Spring Berman,Ankit Vora,Gaurav Pandey
Robust feature matching forms the backbone for most Visual Simultaneous Localization and Mapping (vSLAM), visual odometry, 3D reconstruction, and Structure from Motion (SfM) algorithms. However, recovering feature matches from texture-poor scenes is a major challenge and still remains an open area of research. In this paper, we present a Stereo Visual Odometry (StereoVO) technique based on point a...
