Nguyen, Xuan-Dao You, Bum-Jae Oh, Sang-Rok 2024-01-21T00:00:44Z 2024-01-21T00:00:44Z 2021-09-03 2008-02 1598-6446 https://pubs.kist.re.kr/handle/201004/133776 Vision-based simultaneous localization and map building using a single camera, while compelling in theory, have not until recently been considered extensive in the practical realm of the real world. In this paper, we propose a simple framework for the monocular SLAM of an indoor mobile robot using natural line features. Our focus in this paper is on presenting a novel approach for modeling the landmark before integration in monocular SLAM. We also discuss data association improvement in a particle filter approach by using the feature management scheme. In addition, we take constraints between features in the environment into account for reducing estimated errors and thereby improve performance. Our experimental results demonstrate the feasibility of the proposed SLAM algorithm in real-time. English INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS A simple framework for indoor monocular SLAM Article 1 INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.6, no.1, pp.62 - 75 INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 6 1 62 75 scie scopus kci ART001224336 000252749700007 2-s2.0-38949216778 Automation & Control Systems Automation & Control Systems Article bearing only SLAM localization monocular