Simultaneous localization and mapping with infinite planes

@article{Kaess2015SimultaneousLA,
  title={Simultaneous localization and mapping with infinite planes},
  author={Michael Kaess},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2015},
  pages={4605-4611}
}
Simultaneous localization and mapping with infinite planes is attractive because of the reduced complexity with respect to both sparse point-based and dense volumetric methods. We show how to include infinite planes into a least-squares formulation for mapping, using a homogeneous plane parametrization with a corresponding minimal representation for the optimization. Because it is a minimal representation, it is suitable for use with Gauss-Newton, Powell's Dog Leg and incremental solvers such… CONTINUE READING
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