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Building a 3-D Line-Based Map Using Stereo SLAM

Title
Building a 3-D Line-Based Map Using Stereo SLAM
Author
서일홍
Keywords
Computer vision; line feature; mapping; simultaneous localization and mapping (SLAM); stereo
Issue Date
2015-12
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE TRANSACTIONS ON ROBOTICS, v. 31, NO 6, Page. 1364-1377
Abstract
This paper presents a graph-based visual simultaneous localization and mapping (SLAM) system using straight lines as features. Compared with point features, lines provide far richer information about the structure of the environment and make it possible to infer spatial semantics from the map. Using a stereo rig as the sole sensor, our proposed system utilizes many advanced techniques, such as motion estimation, pose optimization, and bundle adjustment. We use two different representations to parameterize 3-D lines in this paper: Plucker line coordinates for efficient initialization of newly observed line features and projection of 3-D lines, and orthonormal representation for graph optimization. The proposed system is tested with indoor and outdoor sequences, and it exhibits better reconstruction performance against a point-based SLAM system in line-rich environments.
URI
http://ieeexplore.ieee.org/document/7327206/http://hdl.handle.net/20.500.11754/30095
ISSN
1552-3098; 1941-0468
DOI
10.1109/TRO.2015.2489498
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRONIC ENGINEERING(융합전자공학부) > Articles
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