A new feature parametrization for monocular SLAM using line features

doi:10.1017/S026357471400040X

CORC > 北京大学 > 地球与空间科学学院

	A new feature parametrization for monocular SLAM using line features
	Zhao, Liang ; Huang, Shoudong ; Yan, Lei ; Dissanayake, Gamini
刊名	robotica
	2015
关键词	SLAM Computer vision Line feature parametrization Bundle adjustment Map joining EQUALITY CONSTRAINTS BUNDLE ADJUSTMENT SEGMENTS LANDMARKS MOTION FILTER
DOI	10.1017/S026357471400040X
英文摘要	This paper presents a new monocular SLAM algorithm that uses straight lines extracted from images to represent the environment. A line is parametrized by two pairs of azimuth and elevation angles together with the two corresponding camera centres as anchors making the feature initialization relatively straightforward. There is no redundancy in the state vector as this is a minimal representation. A bundle adjustment (BA) algorithm that minimizes the reprojection error of the line features is developed for solving the monocular SLAM problem with only line features. A new map joining algorithm which can automatically optimize the relative scales of the local maps is used to combine the local maps generated using BA. Results from both simulations and experimental datasets are used to demonstrate the accuracy and consistency of the proposed BA and map joining algorithms.; Robotics; SCI(E); EI; 1; ARTICLE; Liang.Zhao-1@uts.edu.au; 3; 513-536; 33
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/386098]
专题	地球与空间科学学院
推荐引用方式 GB/T 7714	Zhao, Liang,Huang, Shoudong,Yan, Lei,et al. A new feature parametrization for monocular SLAM using line features[J]. robotica,2015.
APA	Zhao, Liang,Huang, Shoudong,Yan, Lei,&Dissanayake, Gamini.(2015).A new feature parametrization for monocular SLAM using line features.robotica.
MLA	Zhao, Liang,et al."A new feature parametrization for monocular SLAM using line features".robotica (2015).