期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2016
卷号：10
期号：3
页码：3
DOI：10.14313/JAMRIS_3-2016/18
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：Despite the fact, that dense SLAM systems are extensivelydeveloped and are geƫng popular, featurebasedones sƟll have many advantages over them. Oneof the most important maƩers in sparse systems arefeatures. The performance and robustness of a systemdepends strictly on the quality of constraints imposedby feature observaƟons and reliable matching betweenmeasurements and features. To improve those two aspects,higher-level features can be used, and planes area natural choice. We tackle the problem of pluggingplanes into the gଶo opƟmizaƟon framework with twodisƟnct plane representaƟons: one based on a properlystated SE(3) parametrizaƟon and one based on a minimalparametrizaƟon analogous to quaternions. ProposedsoluƟons were implemented as extensions to the gଶoframework and experiments that verify them were conductedusing simulaƟon. We provide a comparison of performanceunder various condiƟons that emphasized differences.
