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http://dx.doi.org/10.9717/kmms.2020.23.2.127

Map Alignment Method in Monocular SLAM based on Point-Line Feature  

Back, Mu Hyun (Dept. of Information and Communication. Handong Global University)
Lee, Jin Kyu (Dept. of Information and Communication. Handong Global University)
Moon, Ji Won (Dept. of Information and Communication. Handong Global University)
Hwang, Sung Soo (School of Computer Science and Electrical Engineering. Handong Global University)
Publication Information
Journal of Korea Multimedia Society / v.23, no.2, 2020 , pp. 127-134 More about this Journal
Abstract
In this paper, we propose a map alignment method for maps generated by point-line monocular SLAM. In the proposed method, the information of feature lines as well as feature points extracted from multiple maps are fused into a single map. To this end, the proposed method first searches for similar areas between maps via Bag-of-Words-based image matching. Thereafter, it calculates the similarity transformation between the maps in the corresponding areas to align the maps. Finally, we merge the overlapped information of multiple maps into a single map by removing duplicate information from similar areas. Experimental results show that maps created by different users are combined into a single map, and the accuracy of the fused map is similar with the one generated by a single user. We expect that the proposed method can be utilized for fast imagery map generation.
Keywords
SLAM; Monocular; Line Feature; Map Alignment; Collaborative;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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