MonoSLAM

MonoSLAM: Real-Time Single Camera SLAM. We present a real-time algorithm which can recover the 3D trajectory of a monocular camera, moving rapidly through a previously unknown scene. Our system, which we dub MonoSLAM, is the first successful application of the SLAM methodology from mobile robotics to the ”pure vision” domain of a single uncontrolled camera, achieving real time but drift-free performance inaccessible to structure from motion approaches. The core of the approach is the online creation of a sparse but persistent map of natural landmarks within a probabilistic framework. Our key novel contributions include an active approach to mapping and measurement, the use of a general motion model for smooth camera movement, and solutions for monocular feature initialization and feature orientation estimation. Together, these add up to an extremely efficient and robust algorithm which runs at 30 Hz with standard PC and camera hardware. This work extends the range of robotic systems in which SLAM can be usefully applied, but also opens up new areas. We present applications of MonoSLAM to real-time 3D localization and mapping for a high-performance full-size humanoid robot and live augmented reality with a hand-held camera


References in zbMATH (referenced in 41 articles )

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  1. Cen, Ruping; Zhang, Xinyue; Tao, Yulin; Xue, Fangzheng; Zhang, Yuxin: Temporal delay estimation of sparse direct visual inertial odometry for mobile robots (2020)
  2. Yu, Fangwen; Shang, Jianga; Hu, Youjian; Milford, Michael: NeuroSLAM: a brain-inspired SLAM system for 3D environments (2019)
  3. Jacobson, Adam; Chen, Zetao; Milford, Michael: Leveraging variable sensor spatial acuity with a homogeneous, multi-scale place recognition framework (2018)
  4. Li, Demeng; Zhu, Jihong; Xu, Benlian; Lu, Mingli; Li, Mingyue: An ant-based filtering random-finite-set approach to simultaneous localization and mapping (2018)
  5. Novák, M.; Křehlík, Š.: (EL)-hyperstructures revisited (2018)
  6. Srajer, Filip; Kukelova, Zuzana; Fitzgibbon, Andrew: A benchmark of selected algorithmic differentiation tools on some problems in computer vision and machine learning (2018)
  7. Bourmaud, Guillaume; Mégret, Rémi; Giremus, Audrey; Berthoumieu, Yannick: From intrinsic optimization to iterated extended Kalman filtering on Lie groups (2016)
  8. Hollósi, Gergely; Lukovszki, Csaba; Moldován, István; Plósz, Sándor; Harasztos, Frigyes: Monocular indoor localization techniques for smartphones (2016)
  9. Kraft, Marek; Nowicki, Michał; Penne, Rudi; Schmidt, Adam; Skrzypczyński, Piotr: Efficient RGB-D data processing for feature-based self-localization of mobile robots (2016)
  10. Martínez, Pablo A.; Castelán, Mario; Arechavaleta, Gustavo: Vision based persistent localization of a humanoid robot for locomotion tasks (2016)
  11. Bourmaud, Guillaume; Mégret, Rémi; Arnaudon, Marc; Giremus, Audrey: Continuous-discrete extended Kalman filter on matrix Lie groups using concentrated Gaussian distributions (2015)
  12. Dhiman, Nitin Kumar; Deodhare, Dipti; Khemani, Deepak: \textitWheream I? Creating spatial awareness in unmanned ground robots using SLAM: a survey (2015) ioport
  13. Li, Haifeng; Wang, Hongpeng; Liu, Jingtai: Error aware multiple vertical planes based visual localization for mobile robots in urban environments (2015)
  14. Othman, Nur Aqilah; Ahmad, Hamzah; Namerikawa, Toru: Sufficient condition for estimation in designing (H_\infty) filter-based SLAM (2015)
  15. Yan, Rui-Jun; Wu, Jing; Lee, Ji Yeong; Han, Chang-Soo: Representation of 3D environment map using B-spline surface with two mutually perpendicular LRFs (2015)
  16. Ceriani, Simone; Marzorati, Daniele; Matteucci, Matteo; Sorrenti, Domenico G.: Single and multi camera simultaneous localization and mapping using the extended Kalman filter (2014)
  17. Li, Shuailing; Liu, Hao; Shi, Zongying; Zhong, Yisheng: Monocular camera based trajectory tracking of 3-DOF helicopter (2014)
  18. Martinelli, Agostino: Closed-form solution of visual-inertial structure from motion (2014)
  19. Wen, Shuhuan; Othman, Kamal Mohammed; Rad, Ahmad B.; Zhang, Yixuan; Zhao, Yongsheng: Indoor SLAM using laser and camera with closed-loop controller for NAO humanoid robot (2014)
  20. Yang, Dongfang; Liu, Zhiguo; Sun, Fuchun; Zhang, Jinsheng; Liu, Huaping; Wang, Shicheng: Recursive depth parametrization of monocular visual navigation: observability analysis and performance evaluation (2014)

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