LineSLAM: Visual Real Time Localization Using Lines and UKF

In visual simultaneous location and mapping (SLAM) with a single camera, the use of 3D points as a basic feature has been shown sufficient to reliably estimate the camera position and orientation. Nevertheless, the resultant maps are not clear enough for certain applications, even for a large amount of point features. We propose a novel SLAM technique that uses lines as basic features, and the unscented Kalman filter (UKF) as a tracking algorithm. This paper discusses the mathematical foundations as well as the practical implementation of this technique, along with the results of preliminary experiments.