Paul Smith, Ian Reid, Andrew Davison
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.
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