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CVPR
2010
IEEE

Monocular SLAM with Locally Planar Landmarks via Geometric Rao-Blackwellized Particle Filtering on Lie groups

12 years 1 months ago
Monocular SLAM with Locally Planar Landmarks via Geometric Rao-Blackwellized Particle Filtering on Lie groups
We propose a novel geometric Rao-Blackwellized particle filtering framework for monocular SLAM with locally planar landmarks. We represent the states for the camera pose and the landmark plane normal as SE(3) and SO(3), respectively, which are both Lie groups. The measurement error is also represented as another Lie group SL(3) corresponding to the space of homography matrices. We then formulate the unscented transformation on Lie groups for optimal importance sampling and landmark estimation via unscented Kalman filter. The feasibility of our framework is demonstrated via various experiments.
Junghyun Kwon (Seoul National University) and Kyou
Added 01 Apr 2010
Updated 14 May 2010
Type Conference
Year 2010
Where CVPR
Authors Junghyun Kwon (Seoul National University) and Kyoung Mu Lee (Seoul National University)
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