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

DOI10.1007/S11263-011-0492-5zbMATH Open1235.68289OpenAlexW2081501943WikidataQ58232019 ScholiaQ58232019MaRDI QIDQ409205FDOQ409205

Joan Solà, Teresa Vidal-Calleja, Javier Civera, José María Martínez Montiel

Publication date: 12 April 2012

Published in: International Journal of Computer Vision (Search for Journal in Brave)

Full work available at URL: http://zaguan.unizar.es/record/60641

zbMATH Keywords

consistencyKalman filteringbenchmarkinglinearitysimultaneous localization and mappingmonocular visionstructure from motionlandmark parametrization

Mathematics Subject Classification ID

Machine vision and scene understanding (68T45)

Cites Work

• Parameter estimation and the CRLB with uncertain origin measurements
• Utilization of modified polar coordinates for bearings-only tracking

Cited In (2)

• Single and multi camera simultaneous localization and mapping using the extended Kalman filter
• Range-only SLAM with indistinguishable landmarks; a constraint programming approach

Uses Software

• SBA
• MonoSLAM

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