Combined 2D and 3D features for robust RGB-D visual odometry

• المؤلف الرئيسي: Cai, Pei
• مؤلفون آخرون: Xie Lihua
• التنسيق: Thesis-Master by Coursework
• اللغة: English
• منشور في: Nanyang Technological University 2023
• الموضوعات: Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/170197

As a novel type of sensor, RGB-D cameras have attracted substantial research at tention in indoor SLAM because they can provide both RGB and depth informa tion. Currently, most existing mature RGB-D SLAM solutions are keypoint-based, which su↵er from significant performance degradation in texturele...