This work with Andrew P. Gee develops a monocular real-time SLAM system that uses line segments extracted on the fly and that builds a wire-frame model of the scene to help tracking. The use of line segments provides viewpoint invariance and robustness to partial occlusion, whilst the model-based tracking is fast and efficient, reducing problems associated with feature matching and extraction.
Saturday 31 March 2012
Real-Time Model-Based SLAM Using Line Segments
This work with Andrew P. Gee develops a monocular real-time SLAM system that uses line segments extracted on the fly and that builds a wire-frame model of the scene to help tracking. The use of line segments provides viewpoint invariance and robustness to partial occlusion, whilst the model-based tracking is fast and efficient, reducing problems associated with feature matching and extraction.
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