具有局部平面地标的单眼SLAM闭合环路技术

2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI:10.1109/URAI.2013.6677402

Alchan Yoon, J. Kwon, F. Park

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引用次数: 1

摘要

我们提出了一种单眼SLAM系统的闭环检测技术[1]，该技术使用平面地标来描述三维环境。在[1]中，相机状态和地标平面法线分别表示为SE(3)和SO(3)，均为李群。由李群元素组成的特征映射的闭环技术应考虑李群的几何性质。

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A loop closure technique for monocular SLAM with locally planar landmarks

We propose a loop closure detection technique for a monocular SLAM system proposed in [1], which uses planar landmarks to describe 3-D environments. In [1], the camera state and the landmark plane normal is represented as SE(3) and SO(3), respectively, which are both Lie group. Loop closing techniques for feature map which consist of Lie group elements should consider the geometrical properties of Lie group.

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2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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