A Line-Based Approach to Slam Using Monocular Vision

被引：4
|
作者：
Santana, A. M. [1 ]
Medeiros, A. A. D. [2 ]
机构：
[1] Univ Fed Piaui, Teresina, PI, Brazil
[2] Univ Fed Rio Grande do Norte, BR-59072970 Natal, RN, Brazil
来源：
IEEE LATIN AMERICA TRANSACTIONS | 2011年 / 9卷 / 03期
关键词：
SLAM; Kalman Filter; Hough Transform; Monocular Vision;
D O I：
10.1109/TLA.2011.5893767
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This work purposes a line-based approach to the SLAM problem using planar information. The solution presented is based on Extended Kalman Filter, in Hough transform and in use of a homographic matrix to perform the image-world mapping. The proposed model allows the use of line features directly in the Kalman equations without additional intermediate calculations and startup delayed initialization, same images being obtained from a single camera. Results with a real robot are presented to validate the proposal.
引用
收藏
页码：231 / 239
页数：9
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