Building a 3-D Line-Based Map Using Stereo SLAM

• Published in: IEEE transactions on robotics Vol. 31; no. 6; pp. 1364 - 1377
• Main Authors: Zhang, Guoxuan, Lee, Jin Han, Lim, Jongwoo, Suh, Il Hong
• Format: Journal Article
• Language: English
• Published: New York IEEE 01-12-2015; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Comparative analysis; Computer vision; Image segmentation; Information; line feature; mapping; Motion estimation; Optimization; Semantics; Sensors; Simultaneous localization and mapping; simultaneous localization and mapping (SLAM); stereo; Stereo vision; Computer vision; mapping; simultaneous localization and mapping (SLAM); stereo; line feature
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2015.2489498

This paper presents a graph-based visual simultaneous localization and mapping (SLAM) system using straight lines as features. Compared with point features, lines provide far richer information about the structure of the environment and make it possible to infer spatial semantics from the map. Using a stereo rig as the sole sensor, our proposed system utilizes many advanced techniques, such as motion estimation, pose optimization, and bundle adjustment. We use two different representations to parameterize 3-D lines in this paper: Plücker line coordinates for efficient initialization of newly observed line features and projection of 3-D lines, and orthonormal representation for graph optimization. The proposed system is tested with indoor and outdoor sequences, and it exhibits better reconstruction performance against a point-based SLAM system in line-rich environments.