Table of Contents Author Guidelines Submit a Manuscript
Volume 2019, Article ID 8176489, 11 pages
Research Article

Passive Initialization Method Based on Motion Characteristics for Monocular SLAM

School of Mechatronical Engineering, Beijing Institute of Technology, 5th South Zhongguancun Street, Beijing, China

Correspondence should be addressed to ChengWei Yang; moc.621@9002iewgnehcgnay

Received 12 October 2018; Accepted 23 January 2019; Published 5 February 2019

Guest Editor: Jungong Han

Copyright © 2019 Yu Yang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Visual SLAM techniques have proven to be effective methods for estimating robust position and attitude in the field of robotics. However, current monocular SLAM algorithms cannot guarantee timeliness of system startup due to the problematic initialization time and the low success rates. This paper introduces a rectilinear platform motion hypothesis and thereby converts the estimation problem into a verification problem to achieve fast monocular SLAM initialization. The proposed method is simulation tested on a fixed-wing UAV. Tests show that the proposed method can produce faster initialization of visual SLAM and that the advantages are more profound on systems with sparse image features.