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MonoSLAM: Realtime single camera SLAM (2007)
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| Venue: | IEEE Transactions on Pattern Analysis and Machine Intelligence |
| Citations: | 489 - 26 self |
BibTeX
@ARTICLE{Davison07monoslam:realtime,
author = {Andrew J. Davison and Ian D. Reid and Nicholas D. Molton and Olivier Stasse},
title = {MonoSLAM: Realtime single camera SLAM},
journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
year = {2007},
pages = {1052--1067}
}
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Abstract
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. Index Terms—Autonomous vehicles, 3D/stereo scene analysis, tracking. Ç 1
Keyphrases
realtime single camera slam single uncontrolled camera mobile robotics drift-free performance general motion model high-performance full-size humanoid robot unknown scene pure vision domain present application probabilistic framework standard pc online creation real-time algorithm robust algorithm monocular camera smooth camera movement robotic system stereo scene analysis real time active approach natural landmark key novel contribution slam methodology monocular feature initialization index term autonomous vehicle feature orientation estimation motion approach first successful application camera hardware persistent map new area hand-held camera
