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Journal of Robotics
This paper proposes a novel monocular vision-based SLAM (Simultaneous Localization and Mapping) algorithm for mobile robot. In this proposed method, the tracking and mapping procedures are split into two separate tasks and performed in parallel threads. In the tracking thread, a ground feature-based pose estimation method is employed to initialize the algorithm for the constraint moving of the mobile robot. And an initial map is built by triangulating the matched features for further trackingdoi:10.1155/2016/7630340 fatcat:udba7l2qm5c45drafo2vr2w5ma