3 papers
cs.CV2025
RiemanLine: Riemannian Manifold Representation of 3D Lines for Factor Graph Optimization
Yan Li, Ze Yang, Keisuke Tateno +3
Minimal parametrization of 3D lines plays a critical role in camera localization and structural mapping. Existing representations in robotics and computer vision predominantly hand…
cs.RO2025
PL-VIWO2: A Lightweight, Fast and Robust Visual-Inertial-Wheel Odometry Using Points and Lines
Zhixin Zhang, Liang Zhao, Pawel Ladosz
Vision-based odometry has been widely adopted in autonomous driving owing to its low cost and lightweight setup; however, its performance often degrades in complex outdoor urban en…
cs.RO2025
PL-VIWO: A Lightweight and Robust Point-Line Monocular Visual Inertial Wheel Odometry
Zhixin Zhang, Wenzhi Bai, Liang Zhao +1
This paper presents a novel tightly coupled Filter-based monocular visual-inertial-wheel odometry (VIWO) system for ground robots, designed to deliver accurate and robust localizat…