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

• Main Author: Cai, Pei
• Other Authors: Xie Lihua
• Format: Thesis-Master by Coursework
• Language: English
• Published: Nanyang Technological University 2023
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: 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...