(15~18)Research for visual Simultaneous Localization And Mapping Algorithm Based Sparse Pose Graph

Development of Robust Rectangular Feature Detection Technology for SLAM based on Sparse Pose Graph

- Development of Robust Line Detection Algorithm for Rectangular Feature Detection

- Application of CLC algorithm for warping and attitude information extraction of rectangle features

- Development of efficient feature descriptor algorithm for real-time matching between rectangular features


Implementation of Sparse Pose Graph SLAM based on Detected Rectangular Features

- Implementation of Sparse Pose Graph SLAM based on Rectangular Features - Validation using KITTI dataset