Loop closure through vanishing points in a line-based monocular SLAM

Zhang, Guoxuan; Kang, Dong Hun; Suh, Il Hong

doi:10.1109/icra.2012.6224759

Cited by 21 publications

(7 citation statements)

References 10 publications

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“…Their experimental results show that with the help of vanishing points, the SLAM performance is significantly improved. In [21], authors adopted vertical lines and floor lines as features for solving 3DoF SLAM problem. To reduce the accumulated heading error, the authors employed vanishing points as an extra measurements and also used them for loop closing.…”

Section: Related Workmentioning

confidence: 99%

StructSLAM: Visual SLAM With Building Structure Lines

Zhou

Zou

Pei

et al. 2015

IEEE Trans. Veh. Technol.

233

108

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We propose a novel 6 DoF visual 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 EKF visual SLAM method to adopt the building structure lines with a novel parametrization 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 datasets, with the aid of wheel odometer, our method produces bounded position errors about 0.79 meter along a 967 meter path even though no loop closing algorithm is applied.

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Section: Related Workmentioning

confidence: 99%

StructSLAM: Visual SLAM With Building Structure Lines

Zhou

Zou

Pei

et al. 2015

IEEE Trans. Veh. Technol.

233

108

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show abstract

“…The vanishing points from parallel lines on the images relates to the camera orientation directly. It has shown that using vanishing points can improve visual SLAM [20] [21] and visual-inertial odometry [22]. However, in those methods the line features are used as only intermediate results for extracting vanishing points.…”

Section: Related Workmentioning

confidence: 99%

“…The first one is a structural line being tracked is no longer detected in the image. All the measurements of this structural line are used for EKF update and the historical poses where the line is visible are involved in computation of the measurement equation (21). To account for occasional tracker failure, we do not trigger EKF immediately, but wait until the tracker is unable to recover for a number of frames.…”

Section: The Noise Matrix Is Computed Asmentioning

confidence: 99%

StructVIO: Visual-Inertial Odometry With Structural Regularity of Man-Made Environments

et al. 2019

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We propose a novel visual-inertial odometry approach that adopts structural regularity in man-made environments. Instead of using Manhattan world assumption, we use Atlanta world model to describe such regularity. An Atlanta world is a world that contains multiple local Manhattan worlds with different heading directions. Each local Manhattan world is detected on-the-fly, and their headings are gradually refined by the state estimator when new observations are coming. With fully exploration of structural lines that aligned with each local Manhattan worlds, our visual-inertial odometry method becomes more accurate and robust, as well as more flexible to different kinds of complex man-made environments. Through extensive benchmark tests and real-world tests, the results show that the proposed approach outperforms existing visual-inertial systems in large-scale man-made environments.

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“…Being similar to loop closure with point features, typically discriminative line descriptors and bag-of-words representation [24] were adopted to detect loop closures in large-scale scenes [25]. Zhang et al [26] proposed a vanishing point-based loop closure method in a line-based SLAM system.…”

Section: A Line Segment Based Slammentioning

confidence: 99%

Line-Based Stereo SLAM by Junction Matching and Vanishing Point Alignment

Wang

et al. 2019

IEEE Access

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In this paper, we propose a stereo simultaneous localization and mapping (SLAM) method based on line segments. For the front-end module of SLAM, we designed a novel method based on the coplanar junction detection, description, and matching. Then the junctions along with their multi-scale rotated BRIEF descriptors are used in other SLAM modules, including line tracking, mapping, and loop closure. The line extraction and matching thread runs at 20 ∼ 40Hz for stereo image sequences on a laptop, making it a practical front-end for line-based SLAM system. For the back-end module, a cost function is designed to minimize both of the reprojection error of line segments and alignment error of the vanishing points. The experimental results demonstrate that the proposed method exhibits more accurate localization and reconstruction than state-of-the-art line-based SLAM systems in line-rich environments. INDEX TERMS Simultaneous localization and mapping (SLAM), line detection, vanishing point, visual odometry, loop closure.

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Loop closure through vanishing points in a line-based monocular SLAM

Cited by 21 publications

References 10 publications

StructSLAM: Visual SLAM With Building Structure Lines

StructSLAM: Visual SLAM With Building Structure Lines

StructVIO: Visual-Inertial Odometry With Structural Regularity of Man-Made Environments

Line-Based Stereo SLAM by Junction Matching and Vanishing Point Alignment

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