The DOI matches its Crossref record; 28 of the 28 references it cites were found in a registry or an index.
StructSLAM: Visual SLAM With Building Structure Lines
Abstract
We propose a novel 6-degree-of-freedom (DoF) visual simultaneous localization and mapping (SLAM) method based on the structural regularity of man-made building environments. The idea is that we use the building structure lines as features for localization and mapping. Unlike other line features, the building structure lines encode the global orientation information that constrains the heading of the camera over time, eliminating the accumulated orientation errors and reducing the position drift in consequence. We extend the standard extended Kalman filter visual SLAM method to adopt the building structure lines with a novel parameterization method that represents the structure lines in dominant directions. Experiments have been conducted in both synthetic and real-world scenes. The results show that our method performs remarkably better than the existing methods in terms of position error and orientation error. In the test of indoor scenes of the public RAWSEEDS data sets, with the aid of a wheel odometer, our method produces bounded position errors about 0.79 m along a 967-m path although no loop-closing algorithm is applied.
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Cites
Estimation with Applications to Tracking and Navigation: Theory, Algorithms and Software
Bar‐Shalom, Y., Li, X. ‐., & Kirubarajan, T. (2002) · doi:10.1002/0471221279 · Cited by 6,782
Parallel Tracking and Mapping for Small AR Workspaces
Klein, G., & Murray, D. (2007) · 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality · doi:10.1109/ismar.2007.4538852 · Cited by 4,346
MonoSLAM: Real-time single camera SLAM
Davison, A. J., Reid, I. D., Molton, N. D., & Stasse, O. (2007) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2007.1049 · Cited by 3,959
Photo tourism: exploring photo collections in 3D
Snavely, N., Seitz, S. M., & Szeliski, R. (2006) · ACM Transactions on Graphics · doi:10.1145/1141911.1141964 · Cited by 2,866
Estimation with Applications to Tracking and Navigation: Theory, Algorithms, and Software
Bar‐Shalom, Y., Kirubarajan, T., & Li, X. R. (2001) · Cited by 2,175
Real-time simultaneous localisation and mapping with a single camera
Davison (2003) · Proceedings Ninth IEEE International Conference on Computer Vision · doi:10.1109/iccv.2003.1238654 · Cited by 1,733
Grompone von Gioi, R., Jakubowicz, J., Morel, J.-M., & Randall, G. (2012) · Image Processing On Line · doi:10.5201/ipol.2012.gjmr-lsd · Cited by 841
Inverse Depth Parametrization for Monocular SLAM
Civera, J., Davison, A. J., & Montiel, J. (2008) · IEEE Transactions on Robotics · doi:10.1109/tro.2008.2003276 · Cited by 779
Consistency of the EKF-SLAM Algorithm
Bailey, T., Nieto, J., Guivant, J., Stevens, M., & Nebot, E. (2006) · 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2006.281644 · Cited by 566
Manhattan World: compass direction from a single image by Bayesian inference
Coughlan, J. M., & Yuille, A. L. (1999) · Proceedings of the Seventh IEEE International Conference on Computer Vision · doi:10.1109/iccv.1999.790349 · Cited by 475
Cited by
PL-SLAM: A Stereo SLAM System Through the Combination of Points and Line Segments
Gomez-Ojeda, R., Moreno, F.-A., Zuniga-Noel, D., Scaramuzza, D., & Gonzalez-Jimenez, J. (2019) · IEEE Transactions on Robotics · doi:10.1109/tro.2019.2899783 · Cited by 560
Geometry-Aware Learning of Maps for Camera Localization
Brahmbhatt, S., Gu, J., Kim, K., Hays, J., & Kautz, J. (2018) · 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2018.00277 · Cited by 417
A Comparative Analysis of LiDAR SLAM-Based Indoor Navigation for Autonomous Vehicles
Zou, Q., Sun, Q., Chen, L., Nie, B., & Li, Q. (2022) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2021.3063477 · Cited by 321
Metadata
- Authors
- Zhou, H., Zou, D., Pei, L., Ying, R., Liu, P., & Yu, W.
- Venue
- IEEE Transactions on Vehicular Technology
- Published
- 2015-04
- Volume
- 64
- Issue
- 4
- Pages
- 1364-1375
- ISSN
- 0018-9545 (ISSN-L)
- 1939-9359
- OpenAlex
- W2043630212
- Cited by
- 280
- References
- 28
- FWCI
- 20.18
- Type
- journal article
- Language
- en
- Open access
- closed
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- Zhou, H., Zou, D., Pei, L., Ying, R., Liu, P., & Yu, W. (2015). StructSLAM: Visual SLAM With Building Structure Lines. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2015.2388780
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