Fast line description for line-based SLAM

Keisuke Hirose, Hideo Saito

Research output: Chapter in Book/Report/Conference proceedingConference contribution

31 Citations (Scopus)

Abstract

Simultaneous localization and mapping (SLAM) is a technique to simultaneously perform mapping of environments and localization of a camera in real-time. Most existing monocular vision based SLAM techniques use point features as landmarks. However, images of artificial environments with little texture often contain many line segments, whereas few point features can be localized in such a scene. We propose here a realtime line-based SLAM system, and a novel method for describing the features of line segments (LEHF:Line-based Eight-directional Histogram Feature) in order to establish correct 2D and 3D line correspondences (2D-3D correspondences). LEHF is a fast and efficient way of describing features of line segments, which are detected by the line segment detector (LSD) method. The line-based orthogonal iteration (LBOI) method and the RANSAC algorithm are applied for the camera pose estimation. We conducted an experiment in order to test our SLAM system in a desktop environment and to perform augmented reality (AR). Moreover our SLAM system was evaluated by synthetic data.

Original languageEnglish
Title of host publicationBMVC 2012 - Electronic Proceedings of the British Machine Vision Conference 2012
PublisherBritish Machine Vision Association, BMVA
DOIs
Publication statusPublished - 2012
Event2012 23rd British Machine Vision Conference, BMVC 2012 - Guildford, Surrey, United Kingdom
Duration: 2012 Sep 32012 Sep 7

Other

Other2012 23rd British Machine Vision Conference, BMVC 2012
CountryUnited Kingdom
CityGuildford, Surrey
Period12/9/312/9/7

Fingerprint

Cameras
Augmented reality
Textures
Detectors
Experiments

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

Cite this

Hirose, K., & Saito, H. (2012). Fast line description for line-based SLAM. In BMVC 2012 - Electronic Proceedings of the British Machine Vision Conference 2012 British Machine Vision Association, BMVA. https://doi.org/10.5244/C.26.83

Fast line description for line-based SLAM. / Hirose, Keisuke; Saito, Hideo.

BMVC 2012 - Electronic Proceedings of the British Machine Vision Conference 2012. British Machine Vision Association, BMVA, 2012.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hirose, K & Saito, H 2012, Fast line description for line-based SLAM. in BMVC 2012 - Electronic Proceedings of the British Machine Vision Conference 2012. British Machine Vision Association, BMVA, 2012 23rd British Machine Vision Conference, BMVC 2012, Guildford, Surrey, United Kingdom, 12/9/3. https://doi.org/10.5244/C.26.83
Hirose K, Saito H. Fast line description for line-based SLAM. In BMVC 2012 - Electronic Proceedings of the British Machine Vision Conference 2012. British Machine Vision Association, BMVA. 2012 https://doi.org/10.5244/C.26.83
Hirose, Keisuke ; Saito, Hideo. / Fast line description for line-based SLAM. BMVC 2012 - Electronic Proceedings of the British Machine Vision Conference 2012. British Machine Vision Association, BMVA, 2012.
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