Structure Reconstruction Using Ray-Point-Ray Features: Representation and Camera Pose Estimation
Yijia He Xiangyue Liu Xiao Liu Ji Zhao Yijia He Xiangyue Liu Xiao Liu Ji Zhao
Straight line features have been increasingly utilized in visual SLAM and 3D reconstruction systems. The straight lines’ parameterization, parallel constraint, and coplanar constraint are studied in many recent works. In this paper, we explore the novel intersection constraint of straight lines for structure reconstruction. First, a minimum parameterized representation of ray-point-ray (RPR) struc...