visual slam with lines or combined points and lines学习记录

N. Ayache and O. D. Faugeras. Building, registrating, and fusing noisy visual maps. International Journal of Robotics Research, 7(6):45–65, 1988.

C. Harris and C. Stennett. RAPID, a video rate object tracker. In Proc. British Machine Vision
Conference, pages 73–77, Oxford, UK, 1990

J. Weng, T. S. Huang, and N. Ahuja. Motion and structure from line correspondences: Closedform solution, uniqueness and optimization. IEEE Transactions on Pattern Analysis and Machine Intelligence, 14(3):318–336, 1992.

H. Kato and M. Billinghurst. Marker tracking and HMD calibration for a video-based augmented reality conferencing system. In Proc. International Workshop on Augmented Reality,
pages 85–94, San Francisco, USA, 1999.

T. Drummond and R. Cipolla. Real-time visual tracking of complex structures. IEEE Transactions on Pattern Analysis and Machine Intelligence, 24(7):932–946, 2002.

 

A. Bartoli and P. Sturm. Structure-from-motion using lines: Representation, triangulation and bundle adjustment. Computer Vision and Image Understanding, 100(3):416–441, 2005
 

E. Rosten and T. Drummond. Fusing points and lines for high performance tracking. In Proc. IEEE International Conference on Computer Vision, pages 1508–1515, Beijing, China, 2005
    较早将点和线结合用于视觉跟踪。

Smith P A, Reid I, Davison A J, et al. Real-Time Monocular SLAM with Straight Lines [C]. british machine vision conference, 2006: 17-26.

    第一篇，单个相机 实时采集线条特征作为视觉slam用途，线采集算法自称很快，用的卡尔曼滤波方法进行构图等内容。

    同时也实现了点和线结合的模块部分。

解析：

1.文章认为canny 边缘检测算子或者Hough变换 检测线条太慢， 认为线条等结构源自于sharp corners，先检测角点再构造线条。

2.用的FAST角点检测，速度快，

参考文献：

Zhou H, Zou D, Pei L, et al. StructSLAM: Visual SLAM With Building Structure Lines[J]. IEEE Transactions on Vehicular Technology, 2015, 64(4): 1364-1375.

 

PL-SLAM stereo相机版本

Gomezojeda R, Moreno F, Zuniganoel D, et al. PL-SLAM: A Stereo SLAM System Through the Combination of Points and Line Segments[J]. IEEE Transactions on Robotics, 2019, 35(3): 734-746.

网友实验改进版本：https://blog.csdn.net/xingchen123453455/article/details/89221959

https://www.cnblogs.com/feifanrensheng/p/11593973.html