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.
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.