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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