Superline: A Robust Line Segment Feature for Visual SLAM
Chengyu Qiao,Tingming Bai,Zhiyu Xiang,Qi Qian,Yunfeng Bi,Chengyu Qiao,Tingming Bai,Zhiyu Xiang,Qi Qian,Yunfeng Bi
Along with point features, line features play an important role in achieving robust Simultaneous Localization and Mapping (SLAM) under complex environments. This paper proposes a fast and effective method, namely Superline, to simultaneously detect line segments and generate robust descriptors for matching. The entire model is composed of a convolutional backbone and two task heads, i.e., detectio...
