Real-time monocular SLAM with straight lines

BMVC 2006 - Proceedings of the British Machine Vision Conference 2006

Volumn , Issue , 2006, Pages 17-26

  Smith, Paul ^a   Reid, Ian ^a   Davison, Andrew ^b  

^a UNIVERSITY OF OXFORD   (United Kingdom)

^b IMPERIAL COLLEGE LONDON   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

EXTENDED KALMAN FILTERS; INFORMATION SCIENCE;

LINE FEATURES; LOCALISATION; LOCALISATION AND MAPPING; MONOCULAR SLAM; POINT FEATURES; REAL-TIME OPERATION; SEED POINT; VISUAL TRACKING;

COMPUTER VISION;

EID: 84898045514     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (18)

1. N. Ayache and O. D. Faugeras. Building, registrating, and fusing noisy visual maps. International Journal of Robotics Research, 7(6):45-65, 1988.
2. A. Bartoli and P. Sturm. Structure-from-motion using lines: Representation, triangulation and bundle adjustment. Computer Vision and Image Understanding, 100(3):416-441, 2005.
3. M. Bosse, R. Rikoski, J. Leonard, and S. Teller. Vanishing points and 3D lines from omnidirectional video. In Proc. International Conference on Image Processing, pages 513-516, Rochester, USA, 2002.
4. M. N. Dailey and M. Parnichkun. Landmark-based simultaneous localization and mapping with stereo vision. In Proc. Asian Conference on Industrial Automation and Robotics, Bangkok, Thailand, 2005.
5. A. J. Davison. Real-time simultaneous localisation and mapping with a single camera. In Proc. IEEE International Conference on Computer Vision, pages 1403-1410, 2003.
6. T. Drummond and R. Cipolla. Real-time visual tracking of complex structures. IEEE Transactions on Pattern Analysis and Machine Intelligence, 24(7):932-946, 2002.
7. E. Eade and T. Drummond. Scalable monocular SLAM. In Proc. Conference on Computer Vision and Pattern Recognition, pages 469-468, New York, USA, 2006.
8. A. Fitzgibbon and A. Zisserman. Automatic camera recovery for closed or open image sequences. In Proc. European Conference on Computer Vision, pages 311-326, 1998.
9. C. Harris and C. Stennett. RAPID, a video rate object tracker. In Proc. British Machine Vision Conference, pages 73-77, Oxford, UK, 1990.
10. H. Kato and M. Billinghurst. Marker tracking and HMD calibration for a video-based augmented reality conferencing system. In Proc. International Workshop on Augmented Reality, pages 85-94, San Francisco, USA, 1999.
11. D. Lowe. Distinctive image features from scale-invariant keypoints. International Journal of Computer Vision, 60(2):91-110, 2004.
12. N. Molton, A. Davison, and I. Reid. Locally planar patch features for real-time structure from motion. In Proc. British Machine Vision Conference, Kingston, UK, 2004.
13. J. M. M. Montiel, J. Civera, and A. J. Davison. Unified inverse depth parametrization for monocular SLAM. In Proc. Robotics: Science and Systems, Philadelphia, USA, 2006.
14. P. M. Newman, J. J. Leonard, J. Tardós, and J. Neira. Explore and return: Experimental validation of real-time concurrent mapping and localization. In Proc. IEEE International Conference on Robotics and Automation, pages 1802-1809, Washington, USA, 2002.
15. D. Nistér. Preemptive RANSAC for live structure and motion estimation. In Proc. IEEE International Conference on Computer Vision, pages 199-206, Nice, France, 2003.
16. M. Pupilli and A. Calway. Real-time camera tracking using a particle filter. In Proc. British Machine Vision Conference, pages 519-528, Oxford, UK, 2005.
17. E. Rosten and T. Drummond. Fusing points and lines for high performance tracking. In Proc. IEEE International Conference on Computer Vision, pages 1508-1515, Beijing, China, 2005.
18. J. Weng, T. S. Huang, and N. Ahuja. Motion and structure from line correspondences: Closed-form solution, uniqueness and optimization. IEEE Transactions on Pattern Analysis and Machine Intelligence, 14(3):318-336, 1992.