3 code implementations • 26 May 2017 • Ruben Gomez-Ojeda, David Zuñiga-Noël, Francisco-Angel Moreno, Davide Scaramuzza, Javier Gonzalez-Jimenez
This paper proposes PL-SLAM, a stereo visual SLAM system that combines both points and line segments to work robustly in a wider variety of scenarios, particularly in those where point features are scarce or not well-distributed in the image.