Abstract: Real-time dense SLAM techniques aim to reconstruct the dense three-dimensional geometry of a scene in real time with an RGB or RGB-D sensor. An indoor scene is an important type of working environment for these techniques. The planar prior can be used in this scenario to improve the reconstruction quality, especially for large low-texture regions that commonly occur in an indoor scene. This article fully explores the planar prior in a dense SLAM pipeline. First, we propose a novel plane detection and segmentation method that runs at 200 Hz on a...
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Topics: 
Computer vision
Artificial intelligence
Computer graphics (images)