Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines.
Joan SolàTeresa A. Vidal-CallejaJavier CiveraJosé María Martínez MontielPublished in: Int. J. Comput. Vis. (2012)
Keyphrases
- monocular slam
- visual slam
- simultaneous localization and mapping
- visual odometry
- extended kalman filter
- calibrated cameras
- single camera
- mobile robot
- feature points
- kalman filter
- real time
- pose estimation
- neural network
- parallel planes
- image sequences
- particle filter
- bundle adjustment
- indoor environments
- data points
- kalman filtering
- camera pose
- autonomous navigation
- straight line
- optical flow
- stereo rig
- dynamic environments
- computer simulation
- robot navigation
- hough transform
- projective geometry
- data association
- robot moves
- line segments
- stereo vision