Computing Publications

Publications Home » Real-Time Monocular SLAM with Str...

Real-Time Monocular SLAM with Straight Lines

Paul Smith, Ian Reid, Andrew Davison

Conference or Workshop Paper
British Machine Vision Conference
September, 2006
Volume 1
pp.17–26
ISBN 1-904410-14-6
Abstract

The use of line features in real-time visual tracking applications is common-

place when a prior map is available, but building the map while tracking in

real-time is much more difficult. We describe how straight lines can be added

to a monocular Extended Kalman Filter Simultaneous Mapping and Locali-

sation (EKF SLAM) system in a manner that is both fast and which integrates

easily with point features. To achieve real-time operation, we present a fast

straight-line detector that hypothesises and tests straight lines connecting de-

tected seed points. We demonstrate that the resulting system provides good

camera localisation and mapping in real-time on a standard workstation, us-

ing either line features alone, or lines and points combined.

PDF of full publication (646 kilobytes)
(need help viewing PDF files?)
BibTEX file for the publication
N.B.
Conditions for downloading publications from this site.
 

pubs.doc.ic.ac.uk: built & maintained by Ashok Argent-Katwala.