A Line-Based Approach to SLAM Using Monocular Vision

This work purposes a line-based approach to the SLAM problem using planar information. The solution presented is based on Extended Kalman Filter, in Hough transform and in use of a homographic matrix to perform the image-world mapping . The proposed model allows the use of line features directly in the Kalman equations without additional intermediate calculations and startup delayed initialization, same images being obtained from a single camera. Results with a real robot are presented to validate the proposal.