Robust RGBD Visual Odometry Using Windowed Direct Bundle Adjustment and Slanted Support Plane
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DOI: 10.1109/lra.2021.3126347
Abstract: This letter presents a robust, real-time visual odometry that efficiently exploits the available visual and geometry cues from RGB-D frames for both tracking and mapping. Together with a hybrid tracking algorithm based on a joint… read more here.
Keywords: slanted support; bundle adjustment; support plane; plane ... See more keywords