Figure 10From: Human Visual Attention Mechanism-Inspired Point-and-Line Stereo Visual Odometry for Environments with Uneven Distributed FeaturesComparisons of heat maps obtained using ORB-VO, PL-SVO, and the proposed method in Kitti 02: a ORB-VO, b PLWM-VO, and c PL-SVO (blue and red lines correspond to lower and higher error levels, respectively)Back to article page