Regular Papers

International Journal of Control, Automation and Systems 2012; 10(3): 547-557

Published online June 13, 2012

https://doi.org/10.1007/s12555-012-0311-y

© The International Journal of Control, Automation, and Systems

A Vertical and Floor Line-based Monocular SLAM System for Corridor Environments

Guoxuan Zhang and Il Hong Suh*

Hanyang University, Korea

Abstract

In this paper, we propose a vertical and floor line-based monocular simultaneous localization and mapping (SLAM) system which utilizes vertical lines, floor lines, and vanishing points as sensory input to perform robust SLAM in corridor environments. By combining three map feature types, our design can help a robot to perform accurate pose estimation, repeatable loop closure, and to construct a more expressive environmental map. As a primitive element of a geometric structure, a line segment has one additional dimension compared to a point feature, thereby allowing the use of line segments to easily represent a geometric structure using a smaller number of features. This system presents map features on a 2D ground space: the vertical line as a projection point, the floor line as the original line, and the vanishing point as a directional vector. Although the vertical line, floor line, and vanishing point use different parameterization and initialization methods, their measurement models are integrated into a unified extended Kalman filter (EKF) framework. Experimental results show that our system can be deployed in a structured indoor environment as a suitable SLAM solution.

Keywords EKF, floor line, monocular SLAM, vanishing point, vertical line.

Article

Regular Papers

International Journal of Control, Automation and Systems 2012; 10(3): 547-557

Published online June 1, 2012 https://doi.org/10.1007/s12555-012-0311-y

Copyright © The International Journal of Control, Automation, and Systems.

A Vertical and Floor Line-based Monocular SLAM System for Corridor Environments

Guoxuan Zhang and Il Hong Suh*

Hanyang University, Korea

Abstract

In this paper, we propose a vertical and floor line-based monocular simultaneous localization and mapping (SLAM) system which utilizes vertical lines, floor lines, and vanishing points as sensory input to perform robust SLAM in corridor environments. By combining three map feature types, our design can help a robot to perform accurate pose estimation, repeatable loop closure, and to construct a more expressive environmental map. As a primitive element of a geometric structure, a line segment has one additional dimension compared to a point feature, thereby allowing the use of line segments to easily represent a geometric structure using a smaller number of features. This system presents map features on a 2D ground space: the vertical line as a projection point, the floor line as the original line, and the vanishing point as a directional vector. Although the vertical line, floor line, and vanishing point use different parameterization and initialization methods, their measurement models are integrated into a unified extended Kalman filter (EKF) framework. Experimental results show that our system can be deployed in a structured indoor environment as a suitable SLAM solution.

Keywords: EKF, floor line, monocular SLAM, vanishing point, vertical line.

IJCAS
June 2024

Vol. 22, No. 6, pp. 1761~2054

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