Open AccessStudy of Indoor Visual SLAM System for Semi-autonomous Robot Platform
Author(s) -
Yeon Taek Oh
Publication year - 2021
Publication title -
engineering and technology journal
Language(s) - English
Resource type - Journals
ISSN - 2456-3358
DOI - 10.47191/etj/v6i11.04
Subject(s) - initialization , simultaneous localization and mapping , computer science , computer vision , artificial intelligence , line (geometry) , robot , inverse , mobile robot , mathematics , geometry , programming language
This study propose the use of heterogeneous visual landmarks, points and line segments, to achieve effective cooperation in indoor SLAM environments. In order to achieve un-delayed initialization required by the bearing-only observations, the well-known inverse-depth parameterization is adopted to estimate 3D points. Similarly, to estimate 3D line segments, we present a novel parameterization based on anchored Plücker coordinates, to which extensible endpoints are added