Point plane SLAM based on line based plane segmentation approach
This paper presents a simultaneous localization and mapping (SLAM) system using point and plane features for RGB D type sensor. To achieve a fast plane segmentation, a novel plane segmentation approach based on line primitives using range image is proposed. Due to the limitation of RGB D sensor, global plane map usually contains reduplicate landmarks. A refinement step is designed to merge reduplicate plane landmarks for better mapping performance. Experimental results with dataset and hand held RGB D sensor validate the robustness and efficiency of the proposed SLAM system.
2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)