관성 항법 오도메트리 성능 향상을 위한 Optical Flow 기반의 라인 추적기

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In this paper, we employ the line feature, which is robust to visual changes, in the visual inertial odometry algorithm to enable robust localization in the indoor environment. The lines are classified into four types, and the novel optical flow-based line tracker is designed to increase computational efficiency and accuracy of line extraction and matching.
Publisher
한국로봇학회
Issue Date
2020-08-17
Language
Korean
Citation

제 15회 한국로봇종합학술대회 (KRoC 2020), pp.141 - 142

URI
http://hdl.handle.net/10203/277828
Appears in Collection
EE-Conference Papers(학술회의논문)
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