Local features detection and description are widely used in many vision applications with
high industrial and commercial demands. With large-scale applications, these tasks raise …

An image line segment is a fundamental low-level visual feature that delineates straight,
slender, and uninterrupted portionsof objects and scenarios within images. Detection and …

Objects in environments are more stable than feature points, which can benefit for building a
wide range of common view relationship and effectively reduce the cumulative error of visual …

Man-made buildings exhibit structural regularity, which can provide strongly geometrical
constraints for Visual-Inertial Odometry (VIO) systems. To make full use of the structural …

The precision of unsupervised point cloud registration methods is typically limited by the lack
of reliable inlier estimation and self-supervised signal, especially in partially overlap** …

Accurate and robust simultaneous localization and map** (SLAM) is essential for
autonomous exploration, unmanned transportation, and emergency rescue operations in …

Structural geometry constraints, such as perpendicularity, parallelism and coplanarity, are
widely existing in man-made scene, especially in Manhattan scene. By fully exploiting these …

Indoor scenes we are living in are visually homogenous or textureless, while they inherently
have structural forms and provide enough structural priors for 3D scene reconstruction …

Abstract Simultaneous Localization and Map** with RGB-D (RGB-D SLAM) is a hot
research issue in the robotic field. How to remove the impact of dynamic objects on RGB-D …

High-dimensional geometric features in artificial scenes yield valuable observations.
Motivated, this paper proposes a real-time LiDAR-based localization system by integrating …