This property can significantly reduce the number of variables to speed up the optimization, and can make the collinear constraint exactly satisfied. We prove that the 3D points of the points on a 2D line are determined by the inverse depths of the endpoints of the 2D line, and derive a closed-form solution for this problem. This paper extends the photometric error for lines. In previous works, the collinear constraints for points on lines are either ignored or introduce heavy computational load into the resulting optimization system. It seems difficult to extend it to lines. However, the original photometric error is only defined for points. Pixels on lines are generally adopted in direct methods. This paper introduces an efficient direct visual odometry (VO) algorithm using points and lines. EDPLVO: Efficient Direct Point-Line Visual Odometry
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