Direct Monocular Odometry Using Points and Lines

19 Mar 2017Shichao YangSebastian Scherer

Most visual odometry algorithm for a monocular camera focuses on points, either by feature matching, or direct alignment of pixel intensity, while ignoring a common but important geometry entity: edges. In this paper, we propose an odometry algorithm that combines points and edges to benefit from the advantages of both direct and feature based methods... (read more)

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