2D-floor-drawn-circuit mapping with only a camera

Hello,

I would like to ask for some guidance on mapping with only a camera. I mean, not using lidar. But also mapping only the floor (2D flat simple surface).

My floor has some stripes/lines drawn on it which form a closed circuit (with an inner limit and an outer limit, just like a race car oval circuit). I would like to elaborate a map, based on the camera detection of those stripes (which would be the limits of the map). Only using a camera.

Where should I look for information about camera 2D mapping? Is there a better approach?

Thank you in advance.
Kind regards.

Have a look at this:

http://wiki.ros.org/orb_slam2_ros