Mapping planar structure in vision-based SLAM can increase robustness and significantly improve efficiency of map representation. However, previous systems have implemented planar...
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 i...
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
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...
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...