Undelayed initialization of line segments in monocular SLAM

Solà, J; Vidal-Calleja, T; Devy, M

Undelayed initialization of line segments in monocular SLAM

Solà, J Vidal-Calleja, T

Devy, M

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Publication Type:: Conference Proceeding
Citation:: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, 2009, pp. 1553 - 1558
Issue Date:: 2009-12-11

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Field	Value	Language
dc.contributor.author	Solà, J	en_US
dc.contributor.author	Vidal-Calleja, T https://orcid.org/0000-0002-5763-9644	en_US
dc.contributor.author	Devy, M	en_US
dc.date.issued	2009-12-11	en_US
dc.identifier.citation	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, 2009, pp. 1553 - 1558	en_US
dc.identifier.isbn	9781424438044	en_US
dc.identifier.uri	http://hdl.handle.net/10453/23606
dc.description.abstract	This paper presents 6-DOF monocular EKF-SLAM with undelayed initialization using linear landmarks with extensible endpoints, based on the Plücker parametriz-ation. A careful analysis of the properties of the Plücker coordinates, defined in the projective space ℙ5, permits their direct usage for undelayed initialization. Immediately after detection of a segment in the image, a Plücker line is incorporated in the map. A single Gaussian pdf includes inside its 2-sigma region all possible lines given the observed segment, from arbitrarily close up to the infinity range, and in any orientation. The lines converge to stable 3D configurations as the moving camera gathers observations from new viewpoints. The line's endpoints, maintained out of the map, are constantly retro-projected from the image onto the line's local reference frame. An extending-only policy is defined to update them. We validate the method via Monte Carlo simulations and with real imagery data. © 2009 IEEE.	en_US
dc.relation.ispartof	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009	en_US
dc.relation.isbasedon	10.1109/IROS.2009.5354754	en_US
dc.title	Undelayed initialization of line segments in monocular SLAM	en_US
dc.type	Conference Proceeding
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
dc.location.activity	St. Louis, MO	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

This paper presents 6-DOF monocular EKF-SLAM with undelayed initialization using linear landmarks with extensible endpoints, based on the Plücker parametriz-ation. A careful analysis of the properties of the Plücker coordinates, defined in the projective space ℙ5, permits their direct usage for undelayed initialization. Immediately after detection of a segment in the image, a Plücker line is incorporated in the map. A single Gaussian pdf includes inside its 2-sigma region all possible lines given the observed segment, from arbitrarily close up to the infinity range, and in any orientation. The lines converge to stable 3D configurations as the moving camera gathers observations from new viewpoints. The line's endpoints, maintained out of the map, are constantly retro-projected from the image onto the line's local reference frame. An extending-only policy is defined to update them. We validate the method via Monte Carlo simulations and with real imagery data. © 2009 IEEE.

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http://hdl.handle.net/10453/23606