Show Reference: "MonoSLAM: Real-Time Single Camera SLAM"

MonoSLAM: Real-Time Single Camera SLAM Pattern Analysis and Machine Intelligence, IEEE Transactions on In Pattern Analysis and Machine Intelligence, IEEE Transactions on, Vol. 29, No. 6. (June 2007), pp. 1052-1067, doi:10.1109/tpami.2007.1049 by A. J. Davison, I. D. Reid, N. D. Molton, O. Stasse
    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},
    address = {Washington, DC, USA},
    author = {Davison, A. J. and Reid, I. D. and Molton, N. D. and Stasse, O.},
    booktitle = {Pattern Analysis and Machine Intelligence, IEEE Transactions on},
    doi = {10.1109/tpami.2007.1049},
    institution = {Dept. of Comput., Imperial Coll., London},
    issn = {0162-8828},
    journal = {Pattern Analysis and Machine Intelligence, IEEE Transactions on},
    keywords = {ratslam},
    month = jun,
    number = {6},
    pages = {1052--1067},
    posted-at = {2012-03-30 15:54:24},
    priority = {2},
    publisher = {IEEE},
    title = {{MonoSLAM}: {Real-Time} Single Camera {SLAM}},
    url = {},
    volume = {29},
    year = {2007}

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