A simple landmark model for vision-based simultaneous localization and mapping

Vision-based simultaneous localization and mapping algorithms using natural landmarks, while compelling in theory, have not until recently been considered extensive in practical real world. After years of research into natural landmark model, we propose the deployment of a simple but powerful landmark model. Our focus in this paper is not on SLAM algorithm can be made omniscient, reliable, and robust, but rather on presenting a novel approach for the pose estimation of the landmark model that could be integrated in V-SLAM. The pose estimation algorithm has been applied for indoor navigation successfully.