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...

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Vydáno v:IEEE transactions on pattern analysis and machine intelligence Ročník 29; číslo 6; s. 1052 - 1067
Hlavní autoři: Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.
Médium: Journal Article
Jazyk:angličtina
Vydáno: Los Alamitos, CA IEEE 01.06.2007
IEEE Computer Society
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
3D/stereo scene analysis
Algorithms
Applied sciences
Artificial Intelligence
Autonomous vehicles
Cameras
Computer science; control theory; systems
Computer Systems
Exact sciences and technology
Hardware
Image Enhancement - methods
Image Interpretation, Computer-Assisted - methods
Imaging, Three-Dimensional - methods
Information Storage and Retrieval - methods
Intelligence
Layout
Mapping
Mobile robots
Motion estimation
Motion measurement
Numerical Analysis, Computer-Assisted
Pattern Recognition, Automated - methods
Pattern recognition. Digital image processing. Computational geometry
Photogrammetry - methods
Real time
Real time systems
Robot vision systems
Robotics
Robots
Robustness
Signal Processing, Computer-Assisted
Simultaneous localization and mapping
Three dimensional
tracking
Video Recording - methods
Initialization
Autonomous system
High performance
Computer vision
Probabilistic approach
Moving robot
Mobility
Real time
Modeling
tracking
Robotics
Augmented reality
Humanoid robot
3D/stereo scene analysis
structure from motion
Scene analysis
Virtual reality
Trajectory
Localization
Stereopsis
Pattern analysis
Artificial intelligence
Autonomous vehicles
ISSN:0162-8828, 2160-9292, 1939-3539
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Popis
Shrnutí: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
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ISSN:0162-8828
2160-9292
1939-3539
DOI:10.1109/TPAMI.2007.1049