Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras
Fangwen Shu,Jiaxuan Wang,Alain Pagani,Didier Stricker,Fangwen Shu,Jiaxuan Wang,Alain Pagani,Didier Stricker
This paper presents a visual SLAM system that uses both points and lines for robust camera localization, and simultaneously performs a piece-wise planar reconstruction (PPR) of the environment to provide a structural map in real-time. One of the biggest challenges in parallel tracking and mapping with a monocular camera is to keep the scale consistent when reconstructing the geometric primitives. ...
