Abstract
Among the recent trends in real-time visual SLAM, there has been a move towards the construction of structure-rich maps. By using landmarks more descriptive than point features, such as line or surface segments, larger parts of the scene can be represented in a compact form. This minimises redundancy and might allow applications such as object detection and path planning. In this paper, we propose a probabilistic map representation for planar surface segments. They are measured directly using the image intensities of individual pixels in the camera images. Preliminary experiments indicate that the motion of a camera can be tracked more accurately than with traditional point features, even when using only a single planar feature.
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© 2008 Springer-Verlag Berlin Heidelberg
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Pietzsch, T. (2008). Planar Features for Visual SLAM. In: Dengel, A.R., Berns, K., Breuel, T.M., Bomarius, F., Roth-Berghofer, T.R. (eds) KI 2008: Advances in Artificial Intelligence. KI 2008. Lecture Notes in Computer Science(), vol 5243. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-85845-4_15
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DOI: https://doi.org/10.1007/978-3-540-85845-4_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-85844-7
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