ML Anthology

Monocular SLAM with Locally Planar Landmarks via Geometric Rao-Blackwellized Particle Filtering on Lie Groups

Junghyun Kwon, Kyoung Mu Lee
CVPR 2010 pp. 1522-1529
doi:10.1109/CVPR.2010.5539789 /cvpr/2010/kwon2010cvpr-monocular/

Abstract

We propose a novel geometric Rao-Blackwellized particle filtering framework for monocular SLAM with locally planar landmarks. We represent the states for the camera pose and the landmark plane normal as SE(3) and SO(3), respectively, which are both Lie groups. The measurement error is also represented as another Lie group SL(3) corresponding to the space of homography matrices. We then formulate the unscented transformation on Lie groups for optimal importance sampling and landmark estimation via unscented Kalman filter. The feasibility of our framework is demonstrated via various experiments.

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Text

Kwon and Lee. "Monocular SLAM with Locally Planar Landmarks via Geometric Rao-Blackwellized Particle Filtering on Lie Groups." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2010. doi:10.1109/CVPR.2010.5539789

Markdown

[Kwon and Lee. "Monocular SLAM with Locally Planar Landmarks via Geometric Rao-Blackwellized Particle Filtering on Lie Groups." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2010.](https://mlanthology.org/cvpr/2010/kwon2010cvpr-monocular/) doi:10.1109/CVPR.2010.5539789

BibTeX

@inproceedings{kwon2010cvpr-monocular,
  title     = {{Monocular SLAM with Locally Planar Landmarks via Geometric Rao-Blackwellized Particle Filtering on Lie Groups}},
  author    = {Kwon, Junghyun and Lee, Kyoung Mu},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {2010},
  pages     = {1522-1529},
  doi       = {10.1109/CVPR.2010.5539789},
  url       = {https://mlanthology.org/cvpr/2010/kwon2010cvpr-monocular/}
}