Line-based SLAM considering directional distribution of line features in an urban environment

Kei Uehara, Hideo Saito, Kosuke Hara

研究成果: Article

抜粋

In this paper, we propose a line-based SLAM (Simultaneous Localization and Mapping) from an image sequence captured by a vehicle in consideration with the directional distribution of line features that detected in an urban environments. The proposed SLAM is based on line segments detected from objects in an urban environment, for example, road markings and buildings, that are too conspicuous to be detected. We use additional constraints regarding the line segments so that we can improve the accuracy of the SLAM. We assume that the angle of the vector of the line segments to the vehicle's direction of travel conform to four-component Gaussian mixture distribution. We define a new cost function considering the distribution and optimize the relative camera pose, position, and the 3D line segments by bundle adjustment. In addition, we make digital maps from the detected line segments. Our method increases the accuracy of localization and revises tilted lines in the digital maps. We implement our method to both the single-camera system and the multi-camera system. The accuracy of SLAM, which uses a single-camera system with our constraint, works just as well as a method that uses a multi-camera system without our constraint.

元の言語English
ページ(範囲)522-532
ページ数11
ジャーナルJournal of the Institute of Image Electronics Engineers of Japan
46
発行部数4
DOI
出版物ステータスPublished - 2017 1 1

ASJC Scopus subject areas

  • Computer Science (miscellaneous)
  • Electrical and Electronic Engineering

フィンガープリント Line-based SLAM considering directional distribution of line features in an urban environment' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用