Building a 3-D Line-Based Map Using Stereo SLAM
- Authors
- Zhang, Guoxuan; Lee, Jin Han; Lim, Jongwoo; Suh, Il Hong
- Issue Date
- Dec-2015
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Computer vision; line feature; mapping; simultaneous localization and mapping (SLAM); stereo
- Citation
- IEEE TRANSACTIONS ON ROBOTICS, v.31, no.6, pp.1364 - 1377
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON ROBOTICS
- Volume
- 31
- Number
- 6
- Start Page
- 1364
- End Page
- 1377
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/155693
- DOI
- 10.1109/TRO.2015.2489498
- ISSN
- 1552-3098
- Abstract
- This paper presents a graph-based visual simultaneous localization and mapping (SLAM) system using straight lines as features. Compared with point features, lines provide far richer information about the structure of the environment and make it possible to infer spatial semantics from the map. Using a stereo rig as the sole sensor, our proposed system utilizes many advanced techniques, such as motion estimation, pose optimization, and bundle adjustment. We use two different representations to parameterize 3-D lines in this paper: Plucker line coordinates for efficient initialization of newly observed line features and projection of 3-D lines, and orthonormal representation for graph optimization. The proposed system is tested with indoor and outdoor sequences, and it exhibits better reconstruction performance against a point-based SLAM system in line-rich environments.
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