Enhanced RGB-D SLAM through orthogonal plane constraints and point-line-plane collaborative optimization

• Gaochao Yang ,

  Roles Conceptualization, Formal analysis, Funding acquisition, Project administration, Software, Writing – review & editing

  * E-mail: 00003463@cczu.edu.cn

  Affiliation College of Computer Science and Artificial Intelligence, Changzhou University, Changzhou, Jiangsu, China

  https://orcid.org/0009-0006-8242-0237

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• Pengfei Liu,

  Roles Data curation, Software, Validation, Writing – original draft

  Affiliation College of Instrumentation Science and Engineering, Southeast University, Nanjing, Jiangsu, China

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• Weifeng Ma

  Roles Formal analysis, Software, Visualization

  Affiliation Department of Geography, Yunnan Normal University, Kunming, Yunnan, China

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