Dara Molloy

Line-Augmented cuVSLAM: Robust Visual Odometry in Low-Texture Environments

Autonomous mobile robots in warehouses and production facilities operate in precisely the environments that defeat point-feature visual odometry: featureless aisles, uniform walls, repetitive racking and specular floors. Such environments are, however, rich in straight-edge structure: rack uprights, door frames, wall j...