Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics
Weikun Zhen,Huai Yu,Yaoyu Hu,Sebastian Scherer,Weikun Zhen,Huai Yu,Yaoyu Hu,Sebastian Scherer
In Simultaneous Localization And Mapping (SLAM) problems, high-level landmarks have the potential to build compact and informative maps compared to traditional point-based landmarks. In this work, we focus on the param-eterization of frequently used geometric primitives including points, lines, planes, ellipsoids, cylinders, and cones. We first present a unified representation based on quadrics, a...
