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:	Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.
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:	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
Bibliografia:	ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 content type line 23 ObjectType-Article-2 ObjectType-Feature-1
ISSN:	0162-8828 2160-9292 1939-3539
DOI:	10.1109/TPAMI.2007.1049