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1、Real-TimeMonocularSLAMwithStraightLinesPaulSmith?,IanReid?andAndrewDavison†?DepartmentofEngineeringScience,UniversityofOxford,UK†DepartmentofComputing,ImperialCollegeLondon,UK[pas,ian]@robots.ox.ac.uk,ajd@doc.ic.ac.ukAbstractTheuseoflinefeaturesinreal-timevis
2、ualtrackingapplicationsiscommon-placewhenapriormapisavailable,butbuildingthemapwhiletrackinginreal-timeismuchmoredifficult.WedescribehowstraightlinescanbeaddedtoamonocularExtendedKalmanFilterSimultaneousMappingandLocali-sation(EKFSLAM)systeminamannerthatisboth
3、fastandwhichintegrateseasilywithpointfeatures.Toachievereal-timeoperation,wepresentafaststraight-linedetectorthathypothesisesandtestsstraightlinesconnectingde-tectedseedpoints.Wedemonstratethattheresultingsystemprovidesgoodcameralocalisationandmappinginreal-t
4、imeonastandardworkstation,us-ingeitherlinefeaturesalone,orlinesandpointscombined.1IntroductionTheuseofacameraasareal-timepositionsensorhasbecomepracticalinrecentyears,aidedbytheemergenceofalgorithmsinboththevisionandroboticscommunitiesandtheinevitableincreasi
5、ngperformanceofpersonalcomputers.Real-timecameratrackingsystemshaveawiderangeofpotentialapplicationsinroboticsandaugmentedreality,andasystemthatsimplyrequiresastandardcameraandpersonalcomputerisbothcost-effectiveandreadily-available.Real-timecamera-trackingis
6、achallengingtask,andmanymethodsrelyonsignificantpriorknowledgeoftheenvironment,forexampleinstrumentingthescenewithsurveyedmarkers[10]orusingathree-dimensionalmodelofthescene[6].Asystemthatcanestimatethescenestructurewhiletrackingismuchmoreflexible,andsignificant
7、advanceshavebeenmadeinthisarea.Estimatingboththecamera’segomotionandthestructureinanonlinesystemisknownasSimultaneousLocalisationAndMapping(SLAM),andfeaturesstronglytheroboticsliterature.SLAMiscloselyrelatedtocomputervisionworkinstructurefrommotion,theoff-lin
8、esolutionofwhichisnowroutine[8],andwhilesuchstructure-from-motionsystemscanbemadetoworkinrealtime(e.g.[15]),theydonotguaranteerepeatedlocalisation.Asaresult,muchrecentworkinreal-timecamer
