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SE-SLAM: Semi-Dense Structured Edge-Based Monocular SLAM
In this work, an edge-based monocular SLAM system (SE-SLAM) is proposed as a middle point: edges present good localization as point features, while enabling a structural semidense map reconstruction.
Realtime Edge-Based Visual Odometry for a Monocular Camera
Similar to feature-based systems, we extract information from the images, instead of working with raw image intensities as direct methods.
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