From Points to Planes - Adding Planar Constraints to Monocular SLAM Factor Graphs
Charlotte Arndt,Reza Sabzevari,Javier Civera,Charlotte Arndt,Reza Sabzevari,Javier Civera
Planar structures are common in man-made environments. Their addition to monocular SLAM algorithms is of relevance in order to achieve more complete and higher- level scene representations. Also, the additional constraints they introduce might reduce the estimation errors in certain situations. In this paper we present a novel formulation to incorporate plane landmarks and planar constraints to fe...
