Impact of landmark parametrization on monocular EKF-SLAM with points and lines
Résumé
This paper aims at providing answers to a variety of questions regarding undelayed initialization of point- and line-landmarks in monocular EKF-SLAM. It does so by stating the problem and the necessary conditions for a successful solution, and by offering a compendium of landmark parametrizations, including three different methods for points and five other methods for straight lines. Some of these methods are already well-known, others are presented here for the first time. The discourse of the text is chosen to highlight the similarities and the differences between them, and how all these parametrizations can be seen as incremental variations of ones \wrt others. We present a new linearity measure to predict how well a parametrization will perform in an EKF framework. To confirm these predictions, we benchmark all the methods by running Monte-Carlo tests on all algorithms, using the same data and comparing their performances on filter RMS errors and NEES consistency. Finally, some results with real imagery are presented as a means to further analyze their possibilities in view of real implementations.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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