Discovering high level structure, its effects and applications in real-time visual SLAM

This work with Andrew P. Gee, Denis Chekhlov and Andrew Calway aims to assess the effects and benefits of the discovery of high level structure such as planes and lines from the simple features commonly used in visual SLAM. This allow us to reduce the state space which benefits scalability and also to explore applications in augmented reality such as autonomous virtual agents being able to interact more reallistically with the created maps in real-time.

• Discovering Higher Level Structure in Visual SLAM , IEEE Trans on Robotics special issue on Visual SLAM. Oct. 2008 Volume 24, Issue 5, pages 980-990
  Andrew P. Gee, Denis Chekhlov, Andrew Calway and Walterio Mayol-Cuevas

• Discovering Planes and Collapsing the State Space in Visual SLAM [PDF]
  Andrew P. Gee, Denis Chekhlov, Walterio Mayol-Cuevas and Andrew Calway In: British Machine Vision Conference (BMVC), September 2007.

• Ninja on a Plane: Automatic Discovery of Physical Planes for Augmented Reality Using Visual SLAM [PDF] Denis Chekhlov, Andrew P. Gee, Andrew Calway and Walterio Mayol-Cuevas International Symposium on Mixed and Augmented Reality (ISMAR), November 2007