This chapter explains a precise SLAM technique, PL-SLAM, that allows to simultaneously process points and lines and tackle situations where point-only based methods are prone to fail, like poorly textured scenes or motion blurred images where feature points are vanished out. The method is remarkably robust against image noise, and that it outperforms state-of-the-art methods for point based contour alignment. The method can run in real-time and in a low cost hardware.
CITATION STYLE
Pumarola, A., Vakhitov, A., Agudo, A., Moreno-Noguer, F., & Sanfeliu, A. (2019). Relative Localization for Aerial Manipulation with PL-SLAM. In Springer Tracts in Advanced Robotics (Vol. 129, pp. 239–248). Springer Verlag. https://doi.org/10.1007/978-3-030-12945-3_17
Mendeley helps you to discover research relevant for your work.