PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments

26 May 2017Ruben Gomez-OjedaDavid Zuñiga-NoëlFrancisco-Angel MorenoDavide ScaramuzzaJavier Gonzalez-Jimenez

Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable point features and, as a consequence, the performance of such algorithms degrades... (read more)

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