Abstract
This paper concerns the building of enhanced scene maps during real-time monocular SLAM. Specifically, we present a novel algorithm for detecting and estimating planar structure in a scene based on both geometric and appearance and information. We adopt a hypothesis testing framework, in which the validity of planar patches within a triangulation of the point based scene map are assessed against an appearance metric. A key contribution is that the metric incorporates the uncertainties available within the SLAM filter through the use of a test statistic assessing error distribution against predicted covariances, hence maintaining a coherent probabilistic formulation. Experimental results indicate that the approach is effective, having good detection and discrimination properties, and leading to convincing planar feature representations.
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MartÃnez-Carranza, J., Calway, A. (2009). Appearance Based Extraction of Planar Structure in Monocular SLAM. In: Salberg, AB., Hardeberg, J.Y., Jenssen, R. (eds) Image Analysis. SCIA 2009. Lecture Notes in Computer Science, vol 5575. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-02230-2_28
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DOI: https://doi.org/10.1007/978-3-642-02230-2_28
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