Research Article

Monocular Vision SLAM for Indoor Aerial Vehicles

Figure 3

Initial stages after filtering for line extraction, in which the line segments are being formed. Note that the horizontal lines across the image denote the artificial horizon for the MAV; these are not architectural detections, but the on-screen display provided by the MAV. This procedure is robust to transient disturbances such as people walking by or trees occluding the architecture.
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