Estimation and Tracking of Partial Planar Templates to Improve VSLAM
نویسندگان
چکیده
We present an algorithm that can segment and track partial planar templates, from a sequence of images taken from a moving camera. By “partial planar template”, we mean that the template is the projection of a surface patch that is only partially planar; some of the points may correspond to other surfaces. The algorithm segments each image template to identify the pixels that belong to the dominant plane, and determines the three dimensional structure of that plane. We show that our algorithm improves the accuracy of visual simultaneous localization and mapping (VSLAM), especially in scenes where surface discontinuities are common.
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