Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features
Hyunjun Lim Yeeun Kim Kwangik Jung Sumin Hu Hyun Myung Hyunjun Lim Yeeun Kim Kwangik Jung Sumin Hu Hyun Myung
In this paper, a degeneracy avoidance method for a point and line based visual SLAM algorithm is proposed. Visual SLAM predominantly uses point features. However, point features lack robustness in low texture and illuminance variant environments. Therefore, line features are used to compensate the weaknesses of point features. In addition, point features are poor in representing discernable featur...