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

DOI10.1007/S11263-011-0492-5MaRDI QIDQ409205zbMATH OpenOpenAlexWikidataFDO

Authors 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)

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• scientific article; zbMATH DE number 1670707

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

Describes a project that uses

Uses Software

• MonoSLAM
• SBA

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