@inproceedings{e21aa619163c4527ba8e7606d47c6eda,
title = "Reduced keyframes for fast bundle adjustment using point and line features in MonoSLAM",
abstract = "Visual Simultaneous Localization and Mapping (VSLAM) requires feature detection on visual data. In indoor scenes that include architectures such as plain walls and doors, there are no or less corners detected, in such cases tracking will be lost. To overcome this situation we track different types of features that help in feature extraction even in textureless scenes. Line features are used to get the outline of the structure. This paper explains method of line based localization when no point features are detected and process of mapping the matched lines between two frames. One of the existing state of art monocular SLAM that extracts point features only, is used as the main build and LBD (Line Band Descriptor) is incorporated in it for localization and mapping. Our new system extracts more features compared to the existing system and complexity of the bundle adjustment is decreased as it decreases the keyframes selected for local mapping and optimization when tested using our own dataset and compared with the existing system.",
keywords = "Bundle adjustment, Homography, plucker coordinates, reprojection error, Keyframe selection, Monocular slam(MonoSLAM), Scene line, Textureless scenes",
author = "Nagaraja, {Chaitra Gajulla} and Jo, {Ik Hyun} and Jang, {Jae Seok} and Jung, {Soon Ki}",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 International Conference on Advances in Computing, Communications and Informatics, ICACCI 2017 ; Conference date: 13-09-2017 Through 16-09-2017",
year = "2017",
month = nov,
day = "30",
doi = "10.1109/ICACCI.2017.8125995",
language = "English",
series = "2017 International Conference on Advances in Computing, Communications and Informatics, ICACCI 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1141--1144",
booktitle = "2017 International Conference on Advances in Computing, Communications and Informatics, ICACCI 2017",
address = "United States",
}