Dimensionless Monocular SLAM

9 years 1 months ago
Dimensionless Monocular SLAM
Abstract. It has recently been demonstrated that the fundamental computer vision problem of structure from motion with a single camera can be tackled using the sequential, probabilistic methodology of monocular SLAM (Simultaneous Localisation and Mapping). A key part of this approach is to use the priors available on camera motion and scene structure to aid robust real-time tracking and ultimately enable metric motion and scene reconstruction. In particular, a scene object of known size is normally used to initialise tracking. In this paper we show that real-time monocular SLAM can be initialised with no prior knowledge of scene objects within the context of a powerful new dimensionless understanding and parameterisation of the problem. When a single camera moves through a scene with no extra sensing, the scale of the whole motion and map is not observable, but we show that up-to-scale quantities can be robustly estimated. Further we describe how the monocular SLAM state vector can be ...
Javier Civera, Andrew J. Davison, J. M. M. Montiel
Added 07 Jun 2010
Updated 07 Jun 2010
Type Conference
Year 2007
Authors Javier Civera, Andrew J. Davison, J. M. M. Montiel
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