Repository at Hanyang UniversityCOLLEGE OF ENGINEERING[S](공과대학)ELECTRONIC ENGINEERING(융합전자공학부)Articles
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | 서일홍 | - |
| dc.date.accessioned | 2018-02-28T04:10:41Z | - |
| dc.date.available | 2018-02-28T04:10:41Z | - |
| dc.date.issued | 2011-05 | - |
| dc.identifier.citation | 2011 IEEE International Conference on Robotics and Automation Robotics and Automation (ICRA), 2011 IEEE International Conference on,1497-1502 | en_US |
| dc.identifier.isbn | 978-1-61284-386-5 | - |
| dc.identifier.isbn | 978-1-61284-380-3 | - |
| dc.identifier.isbn | 978-1-61284-385-8 | - |
| dc.identifier.issn | 1050-4729 | - |
| dc.identifier.uri | http://ieeexplore.ieee.org/document/5979665/ | - |
| dc.description.sponsorship | In this paper, we present a monocular SLAM method which uses vertical and the floor line features as sensory input. A line-based partial 3D map was built, in which many structural properties of the environment can be included. The vertical line and the floor line can be represented as simple 2D objects in the floor plane. These two heterogeneous types of line features were developed as independent SLAM features and combined to represent the environment in a more complete fashion. Although the vertical and floor line use different parameterization and initialization methods, their measurement models are integrated into a unified EKF framework. Experimental results show that this method is practical in a structured indoor environment. | en_US |
| dc.language.iso | en | en_US |
| dc.publisher | Institute of Electrical and Electronics Engineers | en_US |
| dc.subject | Simultaneous localization and mapping | en_US |
| dc.subject | Cameras | en_US |
| dc.subject | Feature extraction | en_US |
| dc.subject | Robot kinematics | en_US |
| dc.subject | Robot vision systems | en_US |
| dc.title | Building a Partial 3D Line-based Map using a Monocular SLAM | en_US |
| dc.type | Article | en_US |
| dc.identifier.doi | 10.1109/ICRA.2011.5979665 | - |
| dc.relation.page | - | - |
| dc.contributor.googleauthor | Guoxuan Zhang | - |
| dc.contributor.googleauthor | Il Hong Sun | - |
| dc.sector.campus | S | - |
| dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
| dc.sector.department | DEPARTMENT OF ELECTRONIC ENGINEERING | - |
| dc.identifier.pid | ihsuh | - |
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