Hand-Held Monocular SLAM Based on Line Segments

@article{Zhang2011HandHeldMS,
  title={Hand-Held Monocular SLAM Based on Line Segments},
  author={Lilian Zhang and Reinhard Koch},
  journal={2011 Irish Machine Vision and Image Processing Conference},
  year={2011},
  pages={7-14}
}
This paper presents an approach of visual SLAM using line segments as primitives. We choose Plucker lines to represent spatial lines and derive a novel fast line projection function based on the relationship between Pl̈ucker line and Plucker matrix. During normal SLAM procedure, the Near by Line Tracking (NLT) method is adopted to track lines and an… CONTINUE READING