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SCIA
2009
Springer

Appearance Based Extraction of Planar Structure in Monocular SLAM

13 years 10 months ago
Appearance Based Extraction of Planar Structure in Monocular SLAM
This paper concerns the building of enhanced scene maps during real-time monocular SLAM. Specifically, we present a novel algorithm for detecting and estimating planar structure in a scene based on both geometric and appearance and information. We adopt a hypothesis testing framework, in which the validity of planar patches within a triangulation of the point based scene map are assessed against an appearance metric. A key contribution is that the metric incorporates the uncertainties available within the SLAM filter through the use of a test statistic assessing error distribution against predicted covariances, hence maintaining a coherent probabilistic formulation. Experimental results indicate that the approach is effective, having good detection and discrimination properties, and leading to convincing planar feature representations1 .
José Martínez-Carranza, Andrew Calwa
Added 27 May 2010
Updated 27 May 2010
Type Conference
Year 2009
Where SCIA
Authors José Martínez-Carranza, Andrew Calway
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