Study of Indoor Visual SLAM System for Semi-autonomous Robot Platform
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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
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