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

页码：231 / 239

页数：9

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