Smith, PPSmithReid, IDIDReidDavison, AJAJDavison2010-07-092010-07-092006-092006, pp.17-261-904410-14-6http://hdl.handle.net/10044/1/5648The 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.© BMVA 2006Conference Paperhttp://www.macs.hw.ac.uk/bmvc2006/