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There is no redundancy in the state vector as this is a minimal representation. A bundle adjustment (BA) algorithm that minimizes the reprojection error of the line features is developed for solving the monocular SLAM problem with only line features. A new map joining algorithm which can automatically optimize the relative scales of the local maps is used to combine the local maps generated using BA. Results from both simulations and experimental datasets are used to demonstrate the accuracy and consistency of the proposed BA and map joining algorithms.<\/jats:p>","DOI":"10.1017\/s026357471400040x","type":"journal-article","created":{"date-parts":[[2014,3,5]],"date-time":"2014-03-05T13:34:49Z","timestamp":1394026489000},"page":"513-536","source":"Crossref","is-referenced-by-count":12,"title":["A new feature parametrization for monocular SLAM using line features"],"prefix":"10.1017","volume":"33","author":[{"given":"Liang","family":"Zhao","sequence":"first","affiliation":[]},{"given":"Shoudong","family":"Huang","sequence":"additional","affiliation":[]},{"given":"Lei","family":"Yan","sequence":"additional","affiliation":[]},{"given":"Gamini","family":"Dissanayake","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2014,3,5]]},"reference":[{"key":"S026357471400040X_ref25","first-page":"9","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Paz","year":"2006"},{"key":"S026357471400040X_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004832"},{"key":"S026357471400040X_ref11","first-page":"1119","volume-title":"Proceedings of the British Machine Vision Conference (BMVC)","author":"Klein","year":"2006"},{"key":"S026357471400040X_ref19","first-page":"6040","volume-title":"Proceedings of the 48th IEEE Conference on Decision and Control","author":"Hu","year":"2009"},{"key":"S026357471400040X_ref21","first-page":"3117","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Zhao","year":"2011"},{"key":"S026357471400040X_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.imavis.2008.11.006"},{"key":"S026357471400040X_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.cviu.2005.06.001"},{"key":"S026357471400040X_ref22","doi-asserted-by":"crossref","unstructured":"H. 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