Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines
作者：Joan Solà, Teresa Vidal-Calleja, Javier Civera, José María Martínez Montiel
摘要
This paper explores the impact that landmark parametrization has in the performance of monocular, EKF-based, 6-DOF simultaneous localization and mapping (SLAM) in the context of undelayed landmark initialization.
论文关键词：Monocular vision, Simultaneous localization and mapping, Structure from motion, Landmark parametrization, Kalman filtering, Benchmarking, Linearity, Consistency
论文评审过程：
论文官网地址：https://doi.org/10.1007/s11263-011-0492-5
