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This paper presents 6-DOF monocular EKF-SLAM with undelayed initialization using linear landmarks with extensible endpoints, based on the Plu??cker parametrization. A careful analysis of the properties of the Plu??cker coordinates, defined in the projective space P5, permits their direct usage for undelayed initialization. Immediately after detection of a segment in the image, a Plu??cker line is...
This paper presents a new variant of the classical Iterative Closest Point (ICP) algorithm. The ICP result depends heavily on the matching between 3D points of the two cloud of points to be registered : besides the 3D distance between points, many other attributes have been proposed to find good matchings, and especially, when available, color or texture attributes could be compared to confirm pairings...
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