Real-Time Monocular SLAM with Straight Lines
File(s)straight-line-slam.pdf (645.93 KB)
Accepted version
Author(s)
Smith, P
Reid, ID
Davison, AJ
Type
Conference Paper
Abstract
The use of line features in real-time visual tracking applications is commonplace when a prior map is available, but building the map while tracking in real-time is much more difficult. We describe how straight lines can be added to a monocular Extended Kalman Filter Simultaneous Mapping and Localisation (EKF SLAM) system in a manner that is both fast and which integrates easily with point features. To achieve real-time operation, we present a fast straight-line detector that hypothesises and tests straight lines connecting detected seed points. We demonstrate that the resulting system provides good camera localisation and mapping in real-time on a standard workstation, using either line features alone, or lines and points combined.
Date Issued
2006-01-01
Online Publication Date
2010-07-09T13:20:41Z
ISBN
1-904410-14-6
Publisher
BMVA
Source Title
British Machine Vision Conference
Start Page
17
End Page
26
Copyright Statement
© BMVA 2006
Source Place
Edinburgh