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. Yang, Dongfang; Sun, Fuchun; Wang, Shicheng; Zhang, Jinsheng: Simultaneous estimation of ego-motion and vehicle distance by using a monocular camera (2014) ioport
  2. Martín, Alberto; Adán, Antonio: 3D real-time positioning for autonomous navigation using a nine-point landmark (2012) ioport
  3. Solà, Joan; Vidal-Calleja, Teresa; Civera, Javier; Montiel, José María Martínez: Impact of landmark parametrization on monocular EKF-SLAM with points and lines (2012)
  4. Birk, Andreas; Wiggerich, Burkhard; Bülow, Heiko; Pfingsthorn, Max; Schwertfeger, Sören: Safety, security, and rescue missions with an unmanned aerial vehicle (UAV) (2011) ioport
  5. Gauglitz, Steffen; Höllerer, Tobias; Turk, Matthew: Evaluation of interest point detectors and feature descriptors for visual tracking (2011)
  6. Mei, Christopher; Sibley, Gabe; Cummins, Mark; Newman, Paul; Reid, Ian: RSLAM: a system for large-scale mapping in constant-time using stereo (2011) ioport
  7. Torii, Akihiko; Havlena, Michal; Pajdla, Tomáš: Omnidirectional image stabilization for visual object recognition (2011)
  8. Weiss, Stephan; Achtelik, Markus; Kneip, Laurent; Scaramuzza, Davide; Siegwart, Roland: Intuitive 3D maps for MAV terrain exploration and obstacle avoidance (2011) ioport
  9. Wu, Bing-Fei; Lu, Wang-Chuan; Jen, Cheng-Lung: Monocular vision-based robot localization and target tracking (2011) ioport
  10. Yu, Seung-Eun; Kim, Daeeun: Image-based homing navigation with landmark arrangement matching (2011) ioport
  11. Baczyk, Robert; Kasiński, Andrzej: Visual simultaneous localisation and map-building supported by structured landmarks (2010)
  12. Kalomiros, John; Lygouras, John: Robotic mapping and localization with real-time dense stereo on reconfigurable hardware (2010) ioport
  13. Kim, Jae-Hean; Chung, Myung Jin; Choi, Byung Tae: Recursive estimation of motion and a scene model with a two-camera system of divergent view (2010)
  14. Sridharan, Mohan: Bootstrap learning and visual processing management on mobile robots (2010) ioport
  15. Artieda, Jorge; Sebastian, José M.; Campoy, Pascual; Correa, Juan F.; Mondragón, Iván F.; Martínez, Carol; Olivares, Miguel: Visual 3-D SLAM from uavs (2009)
  16. Ready, Bryce B.; Taylor, Clark N.: Inertially aided visual odometry for miniature air vehicles in GPS-denied environments (2009)
  17. Skrzypczyński, Piotr: Simultaneous localization and mapping: a feature-based probabilistic approach (2009)
  18. Törnqvist, David; Schön, Thomas B.; Karlsson, Rickard; Gustafsson, Fredrik: Particle filter SLAM with high dimensional vehicle model (2009)
  19. Zhou, Huiyu; Wallace, Andrew M.; Green, Patrick R.: Efficient tracking and ego-motion recovery using gait analysis (2009)
  20. Wu, Er-Yong; Li, Gong-Yan; Xiang, Zhi-Yu; Liu, Ji-Lin: Stereo vision based SLAM using Rao-Blackwellised particle filter (2008)