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Visual odometry (VO) is a fundamental and challenging problem in both the computer vision community and the robotics community. VO refers the process of recovering the relative movements of a camera by analyzing the associated image sequence. While VO is generally formulated as descriptors-based feature tracking with outliers rejection and global optimization, these algorithms are not only computationally...
The detection of features from Light Detection and Ranging (LIDAR) data is a fundamental component of feature-based mapping and SLAM systems. Classical approaches are often tied to specific environments, computationally expensive, or do not extract precise features. We describe a general purpose feature detector that is not only efficient, but also applicable to virtually any environment. Our method...
The detection of features from Light Detection and Ranging (LIDAR) data is a fundamental component of feature-based mapping and SLAM systems. Existing detectors tend to exploit characteristics of specific environments: corners and lines from indoor (rectilinear) environments, and trees from outdoor environments. While these detectors work well in their intended environments, their performance in different...
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