Undelayed Initialization Of Line Segments In Monocular Slam

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Conference Proceeding
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, 2009, pp. 1553 - 1558
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This paper presents 6-DOF monocular EKF-SLAM with undelayed initialization using linear landmarks with extensible endpoints, based on the Plucker parametrization. A careful analysis of the properties of the Plucker coordinates, defined in the projective
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