Nicolau Leal Werneck,  Anna Helena Reali Costa. 

This article presents a mapping algorithm for bearingonly sensors, largely based on the Fast Hough Transform. While just the specific case of a camera moving in a straight path and detecting orthogonal edges was considered, the principle should be useful for more complex scenarios too. The algorithm is intended for creating initial estimates of landmark positions to allow the application of other classic mapping methods, such as maximum likelihood bundle adjustment. Tests were conducted with a video obtained with a consumer camcorder moving through a corridor, and good initial estimates were successfully generated.

http://www.lbd.dcc.ufmg.br/colecoes/wvc/2010/0049.pdf

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