Loop Closure Through Vanishing Points in a Line-based Monocular SLAM
Vanishing points can provide absolute directional landmarks for mobile robots. This guiding ability is important in that the observation of the vanishing points is invariant with respect to the robot pose. In our system, loop closure is performed in two steps: first, the accumulated heading error is reduced using an observation of previously registered vanishing points, and second, the observation of known floor lines allows for further pose correction.
|과제명||생체모방 진화형 학습지능 아키텍쳐 및 Task Skill 학습지능 기술 개발|