Study of Indoor Visual SLAM System for Semi-autonomous Robot Platform
Journal Title: Engineering and Technology Journal - Year 2021, Vol 6, Issue 11
Abstract
This study propose the use of heterogeneous visual landmarks, points and line segments, to achieve effective cooperation in indoor SLAM environments. In order to achieve un-delayed initialization required by the bearing-only observations, the well-known inverse-depth parameterization is adopted to estimate 3D points. Similarly, to estimate 3D line segments, we present a novel parameterization based on anchored Plücker coordinates, to which extensible endpoints are added
Authors and Affiliations
Yeon Taek OH
Keywords
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- EP ID EP698218
- DOI 10.47191/etj/v6i11.04
- Views 103
- Downloads 0
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