ICRA 2011 Paper Abstract


Paper TuP110.3

Zhang, Guoxuan (Hanyang University), Suh, Il Hong (Hanyang University)

Building a Partial 3D Line-Based Map Using a Monocular SLAM

Scheduled for presentation during the Regular Sessions "Localization and Mapping III" (TuP110), Tuesday, May 10, 2011, 14:10−14:25, Room 5E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords SLAM, Mapping, Computer Vision for Robotics and Automation


In this paper, we present a monocular SLAM method which uses vertical and the floor line features as sensory input. A line-based partial 3D map was built, in which many structural properties of the environment can be included. The vertical line and the floor line can be represented as simple 2D objects in the floor plane. These two heterogeneous types of line features were developed as independent SLAM features and combined to represent the environment in a more complete fashion. Although the vertical and floor line use different parameterization and initialization methods, their measurement models are integrated into a unified EKF framework. Experimental results show that this method is practical in a structured indoor environment.



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