Active vision
Real-Time Visual Tracking of Complex Structures
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
A New Conic Section Extraction Approach and Its Applications
IEICE - Transactions on Information and Systems
Real-Time Markerless Tracking for Augmented Reality: The Virtual Visual Servoing Framework
IEEE Transactions on Visualization and Computer Graphics
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Real-Time Visual SLAM with Resilience to Erratic Motion
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
A Robust Regression Model for Simultaneous Localization and Mapping in Autonomous Mobile Robot
Journal of Intelligent and Robotic Systems
Appearance Based Extraction of Planar Structure in Monocular SLAM
SCIA '09 Proceedings of the 16th Scandinavian Conference on Image Analysis
OutlinAR: an assisted interactive model building system with reduced computational effort
ISMAR '08 Proceedings of the 7th IEEE/ACM International Symposium on Mixed and Augmented Reality
Sensor Fusion for SLAM Based on Information Theory
Journal of Intelligent and Robotic Systems
Large scale multiple robot visual mapping with heterogeneous landmarks in semi-structured terrain
Robotics and Autonomous Systems
Visual simultaneous localisation and map-building supported by structured landmarks
International Journal of Applied Mathematics and Computer Science
Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines
International Journal of Computer Vision
Walk&Sketch: create floor plans with an RGB-D camera
Proceedings of the 2012 ACM Conference on Ubiquitous Computing
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Existing monocular vision-based SLAM systems favour interest point features as landmarks, but these are easily occluded and can only be reliably matched over a narrow range of viewpoints. Line segments offer an interesting alternative, as line matching is more stable with respect to viewpoint changes and lines are robust to partial occlusion. In this paper we present a model-based SLAM system that uses 3D line segments as landmarks. Unscented Kalman filters are used to initialise new line segments and generate a 3D wireframe model of the scene that can be tracked with a robust model-based tracking algorithm. Uncertainties in the camera position are fed into the initialisation of new model edges. Results show the system operating in real-time with resilience to partial occlusion. The maps of line segments generated during the SLAM process are physically meaningful and their structure is measured against the true 3D structure of the scene.