Linear MonoSLAM: A linear approach to large-scale monocular SLAM problems

Abstract

This paper presents a linear approach for solving monocular simultaneous localization and mapping (SLAM) problems. The algorithm first builds a sequence of small initial submaps and then joins these submaps together in a divide-and-conquer (D&C) manner. Each of the initial submap is built using three monocular images by bundle adjustment (BA), which is… (More)
DOI: 10.1109/ICRA.2014.6907053

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Cite this paper

@article{Zhao2014LinearMA, title={Linear MonoSLAM: A linear approach to large-scale monocular SLAM problems}, author={Liang Zhao and Shoudong Huang and Gamini Dissanayake}, journal={2014 IEEE International Conference on Robotics and Automation (ICRA)}, year={2014}, pages={1517-1523} }