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ICRA
2010
IEEE
158views Robotics» more  ICRA 2010»
8 years 4 months ago
Real-time monocular SLAM: Why filter?
Abstract— While the most accurate solution to off-line structure from motion (SFM) problems is undoubtedly to extract as much correspondence information as possible and perform g...
Hauke Strasdat, J. M. M. Montiel, Andrew J. Daviso...
TROB
2008
151views more  TROB 2008»
8 years 6 months ago
Inverse Depth Parametrization for Monocular SLAM
Recent work has shown that the probabilistic SLAM approach of explicit uncertainty propagation can succeed in permitting repeatable 3D real-time localization and mapping even in th...
Javier Civera, Andrew J. Davison, J. M. M. Montiel
RSS
2007
173views Robotics» more  RSS 2007»
8 years 7 months ago
Mapping Large Loops with a Single Hand-Held Camera
— This paper presents a method for Simultaneous Localization and Mapping (SLAM), relying on a monocular camera as the only sensor, which is able to build outdoor, closed-loop map...
Laura A. Clemente, Andrew J. Davison, Ian D. Reid,...
ECCV
2008
Springer
8 years 8 months ago
Improving the Agility of Keyframe-Based SLAM
Abstract. The ability to localise a camera moving in a previously unknown environment is desirable for a wide range of applications. In computer vision this problem is studied as m...
Georg Klein, David W. Murray
IBPRIA
2007
Springer
9 years 10 days 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, probabil...
Javier Civera, Andrew J. Davison, J. M. M. Montiel
ICCV
2007
IEEE
9 years 15 days ago
Monocular SLAM as a Graph of Coalesced Observations
We present a monocular SLAM system that avoids inconsistency by coalescing observations into independent local coordinate frames, building a graph of the local frames, and optimiz...
Ethan Eade, Tom Drummond
ICRA
2008
IEEE
144views Robotics» more  ICRA 2008»
9 years 19 days ago
Interacting multiple model monocular SLAM
— Recent work has demonstrated the benefits of adopting a fully probabilistic SLAM approach in sequential motion and structure estimation from an image sequence. Unlike standard...
Javier Civera, Andrew J. Davison, J. M. M. Montiel
ICCV
2007
IEEE
9 years 8 months ago
Real-Time SLAM Relocalisation
Monocular SLAM has the potential to turn inexpensive cameras into powerful pose sensors for applications such as robotics and augmented reality. However, current implementations l...
Brian Williams, Georg Klein, Ian D. Reid
CVPR
2006
IEEE
9 years 8 months ago
Scalable Monocular SLAM
Localization and mapping in unknown environments becomes more difficult as the complexity of the environment increases. With conventional techniques, the cost of maintaining estim...
Ethan Eade, Tom Drummond
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