Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines

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Journal Article
International journal of computer vision, 2012, 97 (3), pp. 339 - 368
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This paper explores the impact that landmark parametrization has in the performance of monocular, EKF-based, 6-DOF simultaneous localization and mapping (SLAM) in the context of undelayed landmark initialization. Undelayed initialization in monocular SLA
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