The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM
Online ISSN : 2424-3116
2010.5
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Novel Line Representation with Consistent Second Order Statistics for SLAM Applications
Nakju Lett DohKeonyong LeeChangjoo Nam
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CONFERENCE PROCEEDINGS FREE ACCESS

Pages 253-258

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Abstract
Line is the most important feature in the feature based mapping. Although it has been widely used for, but we insist that there is no proper line model that is good for SLAM applications. To validate our claim, we firstly derive five necessary conditions that a good model should satisfy. Then we evaluate the previous line models and show that none of them satisfy all the necessary conditions. Finally, we propose a new line representation that fulfills the fore-mentioned conditions.
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© 2010 The Japan Society of Mechanical Engineers
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