Appearance Based Extraction of Planar Structure in Monocular SLAM

  • José Martínez-Carranza
  • Andrew Calway
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5575)

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.

Keywords

Augmented Reality Test Point Delaunay Triangulation Matching Error Structure From Motion 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • José Martínez-Carranza
    • 1
  • Andrew Calway
    • 1
  1. 1.Department of Computer ScienceUniversity of BristolUK

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