NDLI: Undelayed initialization of line segments in monocular SLAM

Content Provider	IEEE Xplore Digital Library
Author	Sola, J. Vidal-Calleja, T. Devy, M.
Copyright Year	2009
Description	Author affiliation: LAAS-CNRS, France (Devy, M.) \|\| LAAS-CNRS, Univ. of Toulouse, France (Sola, J.) \|\| CNRS, France (Vidal-Calleja, T.)
Abstract	This paper presents 6-DOF monocular EKFSLAM with undelayed initialization using linear landmarks with extensible endpoints, based on the Plücker parametrization. A careful analysis of the properties of the Plücker coordinates, defined in the projective space $ℙ^{5},$ permits their direct usage for undelayed initialization. Immediately after detection of a segment in the image, a Plücker line is incorporated in the map. A single Gaussian pdf includes inside its 2-sigma region all possible lines given the observed segment, from arbitrarily close up to the infinity range, and in any orientation. The lines converge to stable 3D configurations as the moving camera gathers observations from new viewpoints. The line's endpoints, maintained out of the map, are constantly retro-projected from the image onto the line's local reference frame. An extending-only policy is defined to update them. We validate the method via Monte Carlo simulations and with real imagery data.
Starting Page	1553
Ending Page	1558
File Size	764456
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354754
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping H infinity control Cameras Uncertainty Image segmentation Delay Intelligent robots USA Councils Image converters Detectors
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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