Impact of landmark parametrization on monocular EKF-SLAM with points and lines

International Journal of Computer Vision

Volumn 97, Issue 3, 2012, Pages 339-368

  Solà, Joan ^a,b,c   Vidal Calleja, Teresa ^d   Civera, Javier ^e   Montiel, José María Martínez ^e  

^a LAAS CNRS   (France)

^b UNIVERSITÉ PAUL SABATIER   (France)

^c Ictineu Submarins SL   (Spain)

^d UNIVERSITY OF SYDNEY   (Australia)

^e UNIVERSITY OF ZARAGOZA   (Spain)

Author keywords

Benchmarking; Consistency; Kalman filtering; Landmark parametrization; Linearity; Monocular vision; Simultaneous localization and mapping; Structure from motion

Indexed keywords

CONSISTENCY; KALMAN FILTERING; LANDMARK PARAMETRIZATION; LINEARITY; MONOCULAR VISION; SIMULTANEOUS LOCALIZATION AND MAPPING; STRUCTURE FROM MOTION;

BENCHMARKING; MATHEMATICAL TECHNIQUES; MONTE CARLO METHODS; STATISTICAL MECHANICS;

ROBOTICS;

EID: 84859266413     PISSN: 09205691     EISSN: 15731405     Source Type: Journal    
DOI: 10.1007/s11263-011-0492-5     Document Type: Article

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