MonoSLAM: Real-time single camera SLAM
MonoSLAM: Real-time single camera SLAM
复制标题
DOI：
10.1109/tpami.2007.1049
复制
发表时间：
2007-06-01
影响因子：
23.6
通讯作者：
Stasse, Olivier
中科院分区：
文献类型：
--
作者：
Davison, Andrew J.;Reid, Ian D.;Stasse, Olivier
我们提出了一种实时算法，可以恢复的3D轨迹的单目摄像机，快速移动通过一个以前未知的场景。我们的系统，我们称之为MonoSLAM，是SLAM方法从移动的机器人到单个不受控制的相机的“纯视觉”域的第一个成功应用，实现了真实的时间，但无漂移性能无法从运动方法的结构。该方法的核心是在概率框架内在线创建稀疏但持久的自然地标地图。我们的关键新的贡献包括一个积极的方法来映射和测量，使用一个通用的运动模型平滑的相机运动，以及单目特征初始化和特征方向估计的解决方案。这些加在一起，形成了一个非常有效和强大的算法，该算法在标准PC和相机硬件上以30 Hz运行。这项工作扩展了SLAM可以有效应用的机器人系统的范围，但也开辟了新的领域。我们目前的应用MonoSLAM实时3D定位和映射的高性能全尺寸人形机器人和现场增强现实与手持摄像头。
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.