MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Vision-Based SLAM in Real-Time
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part I
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part II
CIARP '08 Proceedings of the 13th Iberoamerican congress on Pattern Recognition: Progress in Pattern Recognition, Image Analysis and Applications
Semi-Autonomous Generation of Appearance-based Edge Models from Image Sequences
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Parallel Tracking and Mapping for Small AR Workspaces
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Semi-automatic Annotations in Unknown Environments
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Edge landmarks in monocular SLAM
Image and Vision Computing
Particle Filter SLAM with High Dimensional Vehicle Model
Journal of Intelligent and Robotic Systems
Appearance Based Extraction of Planar Structure in Monocular SLAM
SCIA '09 Proceedings of the 16th Scandinavian Conference on Image Analysis
Using the marginalised particle filter for real-time visual-inertial sensor fusion
ISMAR '08 Proceedings of the 7th IEEE/ACM International Symposium on Mixed and Augmented Reality
A Feasible Tracking Method of Augmented Reality for Supporting Fieldwork of Nuclear Power Plant
VMR '09 Proceedings of the 3rd International Conference on Virtual and Mixed Reality: Held as Part of HCI International 2009
A 3-Component Inverse Depth Parameterization for Particle Filter SLAM
Proceedings of the 31st DAGM Symposium on Pattern Recognition
SLAM Estimation in Dynamic Outdoor Environments: A Review
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Improved inverse-depth parameterization for monocular simultaneous localization and mapping
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Automatically and efficiently inferring the hierarchical structure of visual maps
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
On the use of inverse scaling in monocular SLAM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Image augmented laser scan matching for indoor dead reckoning
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Selecting good corners for structure and motion recovery using a time-of-flight camera
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Fast pose estimation for visual navigation using homographies
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Undelayed initialization of line segments in monocular SLAM
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-calibration
International Journal of Robotics Research
6DOF entropy minimization SLAM for stereo-based wearable devices
Computer Vision and Image Understanding
Distributed multi-camera visual mapping using topological maps of planar regions
Pattern Recognition
Estimating scale using depth from focus for mobile augmented reality
Proceedings of the 3rd ACM SIGCHI symposium on Engineering interactive computing systems
Evaluation of Interest Point Detectors and Feature Descriptors for Visual Tracking
International Journal of Computer Vision
Real-time camera tracking using a global localization scheme
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
Real-time and robust monocular SLAM using predictive multi-resolution descriptors
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
Real-time model-based SLAM using line segments
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
Editors Choice Article: Visual SLAM: Why filter?
Image and Vision Computing
Monocular SLAM with undelayed initialization for an indoor robot
Robotics and Autonomous Systems
Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines
International Journal of Computer Vision
WCCI'12 Proceedings of the 2012 World Congress conference on Advances in Computational Intelligence
Improving image-based localization by active correspondence search
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part I
Towards fast image-based localization on a city-scale
Proceedings of the 15th international conference on Theoretical Foundations of Computer Vision: outdoor and large-scale real-world scene analysis
Geometric particle swarm optimization for robust visual ego-motion estimation via particle filtering
Image and Vision Computing
Efficient keyframe-based real-time camera tracking
Computer Vision and Image Understanding
Incremental 3D reconstruction using Bayesian learning
Applied Intelligence
Fast vision-based scene modeling for augmented reality in unprepared man-made environments
Journal of Ambient Intelligence and Smart Environments - Design and Deployment of Intelligent Environments
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Localization and mapping in unknown environments becomes more difficult as the complexity of the environment increases. With conventional techniques, the cost of maintaining estimates rises rapidly with the number of landmarks mapped. We present a monocular SLAM system that employs a particle filter and top-down search to allow realtime performance while mapping large numbers of landmarks. To our knowledge, we are the first to apply this FastSLAM-type particle filter to single-camera SLAM. We also introduce a novel partial initialization procedure that efficiently determines the depth of new landmarks. Moreover, we use information available in observations of new landmarks to improve camera pose estimates. Results show the system operating in real-time on a standard workstation while mapping hundreds of landmarks.