We propose a novel stereo visual odometry approach, which is especially suited for poorly textured environments.#R##N#We introduce a novel, fast line segment detector and matcher, which detects vertical lines supported#R##N#by an IMU. The patches around lines are then used to directly estimate the pose of consecutive cameras#R##N#by minimizing the photometric error. Our algorithm outperforms state-of-the-art approaches in challenging#R##N#environments. Our implementation runs in real-time and is therefore well suited for various robotics and#R##N#augmented reality applications.
['Thomas Holzmann', 'Friedrich Fraundorfer', 'Horst Bischof']
Direct Stereo Visual Odometry based on Lines