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» Unifying Planar and Point Mapping in Monocular SLAM
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BMVC
2010
9 years 11 months ago
Unifying Planar and Point Mapping in Monocular SLAM
Mapping planar structure in vision-based SLAM can increase robustness and significantly improve efficiency of map representation. However, previous systems have implemented planar...
José Martínez-Carranza, Andrew Calwa...
SCIA
2009
Springer
199views Image Analysis» more  SCIA 2009»
10 years 8 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. Speci´Čücally, we present a novel algorithm for detecting and estimating planar structure i...
José Martínez-Carranza, Andrew Calwa...
TROB
2008
151views more  TROB 2008»
10 years 1 months ago
Inverse Depth Parametrization for Monocular SLAM
Recent work has shown that the probabilistic SLAM approach of explicit uncertainty propagation can succeed in permitting repeatable 3D real-time localization and mapping even in th...
Javier Civera, Andrew J. Davison, J. M. M. Montiel
ECCV
2008
Springer
10 years 3 months ago
Improving the Agility of Keyframe-Based SLAM
Abstract. The ability to localise a camera moving in a previously unknown environment is desirable for a wide range of applications. In computer vision this problem is studied as m...
Georg Klein, David W. Murray
IJCV
2012
8 years 3 months ago
Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines
Abstract This paper explores the impact that landmark parametrization has in the performance of monocular, EKFbased, 6-DOF simultaneous localization and mapping (SLAM) in the conte...
Joan Solà, Teresa A. Vidal-Calleja, Javier ...
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