@article{b2cc3b1baa4f4671a5c881bba4189dda,
title = "Indirect Visual Simultaneous Localization and Mapping Based on Linear Models",
abstract = "This paper proposes an indirect visual simultaneous localization and mapping (V-SLAM) for large-scale outdoor environments based on linear models. With the scale-invariant feature transform (SIFT) algorithm, a design combining key-frame insertion and map management is proposed to avoid redundant computation and unreliable landmarks. Then, an iterative linear equation is employed to update landmarks. With the supplement of reliable map data, absolute camera poses can be obtained using a simple linear equation based on a linearity index. In addition, a linear model helps the system to detect candidates of looped frames and discard invalid loops by means of an outlier weight function. If a loop is detected, an improved trajectory bending algorithm is introduced to optimize the estimations of poses and landmarks. To evaluate the effectiveness of the proposed approach, extensive experiments are conducted using various sequences from a well-known public dataset. Experimental results show that the proposed V-SLAM outperforms other existing methods in terms of various metrics.",
keywords = "Visual simultaneous localization and mapping, indirect method, localization, loop closure, map building",
author = "Chien, {Chiang Heng} and Hsu, {Chen Chien James} and Wang, {Wei Yen} and Chiang, {Hsin Han}",
note = "Funding Information: Manuscript received October 10, 2019; revised November 5, 2019; accepted November 7, 2019. Date of publication November 11, 2019; date of current version February 5, 2020. This work was supported in part by the Chinese Language and Technology Center of National Taiwan Normal University (NTNU) from The Featured Areas Research Center Program within the Framework of the Higher Education Sprout Project by the Ministry of Education (MOE) in Taiwan, and in part by the Ministry of Science and Technology, Taiwan, through the Pervasive Artificial Intelligence Research (PAIR) Labs, under Grant MOST 108-2634-F-003-002 and Grant MOST 108-2634-F-003-003. The associate editor coordinating the review of this article and approving it for publication was Prof. Kazuaki Sawada. (Corresponding author: Chen-Chien James Hsu.) The authors are with the Electrical Engineering, National Taiwan Normal University, Taipei 106, Taiwan (e-mail: chiangheng. chien@gmail.com; jhsu@ntnu.edu.tw; wywang@ntnu.edu.tw; hsinhan@ntnu.edu.tw). Digital Object Identifier 10.1109/JSEN.2019.2952722 Publisher Copyright: {\textcopyright} 2001-2012 IEEE.",
year = "2020",
month = mar,
day = "1",
doi = "10.1109/JSEN.2019.2952722",
language = "English",
volume = "20",
pages = "2738--2747",
journal = "IEEE Sensors Journal",
issn = "1530-437X",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "5",
}