Abstract
In visual simultaneous location and mapping (SLAM) with a single camera, the use of 3D points as a basic feature has been shown sufficient to reliably estimate the camera position and orientation. Nevertheless, the resultant maps are not clear enough for certain applications, even for a large amount of point features. We propose a novel SLAM technique that uses lines as basic features, and the unscented Kalman filter (UKF) as a tracking algorithm. This paper discusses the mathematical foundations as well as the practical implementation of this technique, along with the results of preliminary experiments.
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Perdices, E., López, L.M., Cañas, J.M. (2014). LineSLAM: Visual Real Time Localization Using Lines and UKF. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 252. Springer, Cham. https://doi.org/10.1007/978-3-319-03413-3_49
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DOI: https://doi.org/10.1007/978-3-319-03413-3_49
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-03412-6
Online ISBN: 978-3-319-03413-3
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