A new feature parametrization for monocular SLAM using line features
نویسندگان
چکیده
منابع مشابه
A new feature parametrization for monocular SLAM using line features
This paper presents a new monocular SLAM algorithm that uses straight lines extracted from images to represent the environment. A line is parametrized by two pairs of azimuth and elevation angles together with the two corresponding camera centres as anchors making the feature initialization relatively straightforward. There is no redundancy in the state vector as this is a minimal representatio...
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ژورنال
عنوان ژورنال: Robotica
سال: 2014
ISSN: 0263-5747,1469-8668
DOI: 10.1017/s026357471400040x