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.
CITATION STYLE
Perdices, E., López, L. M., & Cañas, J. M. (2014). LineSLAM: Visual real time localization using lines and UKF. In Advances in Intelligent Systems and Computing (Vol. 252, pp. 663–678). Springer Verlag. https://doi.org/10.1007/978-3-319-03413-3_49
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