Using planar facets for stereovision SLAM

In the context of stereovision SLAM, we propose a way to enrich the landmark models. Vision-based SLAM approaches usually rely on interest points associated to a point in the Cartesian space: by adjoining oriented planar patches (if they are present in the environment), we augment the landmark description with an oriented frame. Thanks to this additional information, the robot pose is fully observable with the perception of a single landmark, and the knowledge of the patches orientation helps the matching of landmarks. The paper depicts the chosen landmark model, the way to extract and match them, and presents some SLAM results obtained with such landmarks.