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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.
A. P. Gee and W.W. Mayol. Real-Time Model-Based SLAM Using Line Segments [PDF]. To appear in LNCS proceedings of the 2nd International Symposium on Visual Computing. November. 2006