We propose a robust RGB-Depth (RGB-D) Visual Odometry (VO) system to improve the localization performance of indoor scenes by using geometric features. including point and line features. Previous VO/Simultaneous Localization and Mapping (SLAM) algorithms estimate the low-drift camera poses with the Manhattan World (MW)/Atlanta World (AW) assumption. which limits the applications of su... https://mabelandfoxs.shop/product-category/memory-book/