CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Hierarchical SLAM: Real-Time Accurate Mapping of Large Environments
IEEE Transactions on Robotics
Fusing Monocular Information in Multicamera SLAM
IEEE Transactions on Robotics
Large-Scale 6-DOF SLAM With Stereo-in-Hand
IEEE Transactions on Robotics
Inverse Depth Parametrization for Monocular SLAM
IEEE Transactions on Robotics
Selecting good corners for structure and motion recovery using a time-of-flight camera
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
AI'07 Proceedings of the 20th Australian joint conference on Advances in artificial intelligence
Large scale multiple robot visual mapping with heterogeneous landmarks in semi-structured terrain
Robotics and Autonomous Systems
Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines
International Journal of Computer Vision
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This paper presents 6-DOF monocular EKFSLAM with undelayed initialization using linear landmarks with extensible endpoints, based on the Pl ücker parametrization. A careful analysis of the properties of the Pl ücker coordinates, defined in the projective space P5, permits their direct usage for undelayed initialization. Immediately after detection of a segment in the image, a Plücker line is incorporated in the map. A single Gaussian pdf includes inside its 2-sigma region all possible lines given the observed segment, from arbitrarily close up to the infinity range, and in any orientation. The lines converge to stable 3D configurations as the moving camera gathers observations from new viewpoints. The line's endpoints, maintained out of the map, are constantly retro-projected from the image onto the line's local reference frame. An extending-only policy is defined to update them. We validate the method via Monte Carlo simulations and with real imagery data.