Highly Efficient Line Segment Tracking with an IMU-KLT Prediction and a Convex Geometric Distance Minimization
Hao Wei Fulin Tang Chaofan Zhang Yihong Wu Hao Wei Fulin Tang Chaofan Zhang Yihong Wu
Line segment features become popular in SLAM community. Usually, line-based SLAM systems utilize local appearance descriptors for line segment tracking. However, traditional descriptor-based line segment tracking algorithms suffer from the problem that accuracy and speed cannot be possessed simultaneously, which affects the performance of line-based SLAM systems negatively. We propose a novel line...