MSC-VO: Exploiting Manhattan and Structural Constraints for Visual Odometry

no code implementations • 5 Nov 2021 • Joan P. Company-Corcoles, Emilio Garcia-Fidalgo, Alberto Ortiz

Under these premises, in this work, we introduce MSC-VO, an RGB-D -based visual odometry approach that combines both point and line features and leverages, if exist, those structural regularities and the Manhattan axes of the scene.

Visual Odometry

LiPo-LCD: Combining Lines and Points for Appearance-based Loop Closure Detection

no code implementations • 3 Sep 2020 • Joan P. Company-Corcoles, Emilio Garcia-Fidalgo, Alberto Ortiz

Visual SLAM approaches typically depend on loop closure detection to correct the inconsistencies that may arise during the map and camera trajectory calculations, typically making use of point features for detecting and closing the existing loops.

Loop Closure Detection