Point-Plane SLAM Using Supposed Planes for Indoor Environments
Simultaneous localization and mapping (SLAM) is a fundamental problem for various applications. For indoor environments, planes are predominant features that are less affected by measurement noise. In this paper, we propose a novel point-plane SLAM system using RGB-D cameras. First, we extract featu...
Main Authors: | , , , , |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2019-09-01
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Series: | Sensors |
Subjects: | |
Online Access: | https://www.mdpi.com/1424-8220/19/17/3795 |