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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| Vydané v: | IEEE transactions on pattern analysis and machine intelligence Ročník 29; číslo 6; s. 1052 - 1067 |
|---|---|
| Hlavní autori: | , , , |
| Médium: | Journal Article |
| Jazyk: | English |
| Vydavateľské údaje: |
Los Alamitos, CA
IEEE
01.06.2007
IEEE Computer Society The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Predmet: | |
| ISSN: | 0162-8828, 2160-9292, 1939-3539 |
| On-line prístup: | Získať plný text |
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| Abstract | 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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| AbstractList | 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. 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 [abstract truncated by publisher]. 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.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. Together, these add up to an extremely efficient and robust algorithm which runs at 30 Hz with standard PC and camera hardware. 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 |
| Author | Stasse, O. Reid, I.D. Davison, A.J. Molton, N.D. |
| Author_xml | – sequence: 1 givenname: A.J. surname: Davison fullname: Davison, A.J. organization: Dept. of Comput., Imperial Coll., London – sequence: 2 givenname: I.D. surname: Reid fullname: Reid, I.D. – sequence: 3 givenname: N.D. surname: Molton fullname: Molton, N.D. – sequence: 4 givenname: O. surname: Stasse fullname: Stasse, O. |
| BackLink | http://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=18734286$$DView record in Pascal Francis https://www.ncbi.nlm.nih.gov/pubmed/17431302$$D View this record in MEDLINE/PubMed |
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| CODEN | ITPIDJ |
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| Keywords | 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 |
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| References | ref13 ref15 ref53 ref52 ref55 ref10 ref54 Manyika (ref14) 1993 ref17 ref18 ref51 ref50 ref46 ref45 ref48 ref47 ref42 ref41 ref44 Newman (ref19) 1999 ref8 Konolige (ref24) ref7 ref4 ref6 ref5 Jung (ref30) ref40 Chiuso (ref38) Molton (ref49) ref35 Shi (ref43) ref37 ref36 ref31 ref33 ref32 ref2 ref1 Neira (ref26) ref39 (ref3) 2005 Moutarlier (ref12) ref23 Newman (ref21) ref25 Smith (ref11) ref20 ref22 Csorba (ref16) 1997 ref28 ref27 ref29 Ayache (ref9) 1991 Sim (ref34) |
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| Snippet | 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,... Together, these add up to an extremely efficient and robust algorithm which runs at 30 Hz with standard PC and camera hardware. |
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| SubjectTerms | 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 |
| Title | MonoSLAM: Real-Time Single Camera SLAM |
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| Volume | 29 |
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