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.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
