A stochastic map for uncertain spatial relationships
Proceedings of the 4th international symposium on Robotics Research
Nonmetric Calibration of Wide-Angle Lenses and Polycameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
Mobile Robot Localization and Map Building: A Multisensor Fusion Approach
Mobile Robot Localization and Map Building: A Multisensor Fusion Approach
Directed Sonar Sensing for Mobile Robot Navigation
Directed Sonar Sensing for Mobile Robot Navigation
Artificial Vision for Mobile Robots: Stereo Vision and Multisensory Perception
Artificial Vision for Mobile Robots: Stereo Vision and Multisensory Perception
Simultaneous Localization and Map-Building Using Active Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Automatic Camera Recovery for Closed or Open Image Sequences
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Mobile Robot Localisation Using Active Vision
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
A unifying framework for structure and motion recovery from image sequences
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Active visual navigation using non-metric structure
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
High resolution terrain mapping using low altitude aerial stereo imagery
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Lucas-Kanade 20 Years On: A Unifying Framework
International Journal of Computer Vision
Active Search for Real-Time Vision
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision (ICCV'05) Volume 1 - Volume 01
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Monocular model-based 3D tracking of rigid objects
Foundations and Trends® in Computer Graphics and Vision
Fault Diameter of Even Networks
NCM '08 Proceedings of the 2008 Fourth International Conference on Networked Computing and Advanced Information Management - Volume 01
Inverse Depth Parametrization for Monocular SLAM
IEEE Transactions on Robotics
An Introduction to Inertial and Visual Sensing
International Journal of Robotics Research
Simultaneous Motion and Structure Estimation by Fusion of Inertial and Vision Data
International Journal of Robotics Research
Trajectory Optimization using Reinforcement Learning for Map Exploration
International Journal of Robotics Research
Multiobjective design of operators that detect points of interest in images
Proceedings of the 10th annual conference on Genetic and evolutionary computation
Vision-Based SLAM in Real-Time
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part I
Object-adaptive tracking for AR guidance system
VRCAI '08 Proceedings of The 7th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry
Keypoint Signatures for Fast Learning and Recognition
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
A Robust Pose Estimation Algorithm for Mobile Robot Based on Clusters
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
A mapping and localization framework for scalable appearance-based navigation
Computer Vision and Image Understanding
Ninja on a Plane: Automatic Discovery of Physical Planes for Augmented Reality Using Visual SLAM
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
Initializing Markerless Tracking Using a Simple Hand Gesture
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Visual navigation: image profiles for odometry and control
Journal of Computing Sciences in Colleges
Visual loop-closing with image profiles
Proceedings of the 2009 ACM symposium on Applied Computing
Color learning and illumination invariance on mobile robots: A survey
Robotics and Autonomous Systems
Inertially Aided Visual Odometry for Miniature Air Vehicles in GPS-denied Environments
Journal of Intelligent and Robotic Systems
Particle Filter SLAM with High Dimensional Vehicle Model
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
Automatic evaluation of landmarks for image-based navigation update
EURASIP Journal on Advances in Signal Processing - Special issue on signal processing advances in robots and autonomy
Stereo vision specific models for particle filter-based SLAM
Robotics and Autonomous Systems
Appearance Based Extraction of Planar Structure in Monocular SLAM
SCIA '09 Proceedings of the 16th Scandinavian Conference on Image Analysis
A 3-Component Inverse Depth Parameterization for Particle Filter SLAM
Proceedings of the 31st DAGM Symposium on Pattern Recognition
Marker-Less Tracking for Multi-layer Authoring in AR Books
ICEC '09 Proceedings of the 8th International Conference on Entertainment Computing
Real-Time Descriptorless Feature Tracking
ICIAP '09 Proceedings of the 15th International Conference on Image Analysis and Processing
Efficient tracking and ego-motion recovery using gait analysis
Signal Processing
Robot control via region-based 3d reconstruction
ISC '07 Proceedings of the 10th IASTED International Conference on Intelligent Systems and Control
Active matching for visual tracking
Robotics and Autonomous Systems
A comparison of loop closing techniques in monocular SLAM
Robotics and Autonomous Systems
Efficient data association for view based SLAM using connected dominating sets
Robotics and Autonomous Systems
Real-time hierarchical outdoor SLAM based on stereovision and GPS fusion
IEEE Transactions on Intelligent Transportation Systems
Using Local Symmetry for Landmark Selection
ICVS '09 Proceedings of the 7th International Conference on Computer Vision Systems: Computer Vision Systems
Visual Registration Method for a Low Cost Robot
ICVS '09 Proceedings of the 7th International Conference on Computer Vision Systems: Computer Vision Systems
Simultaneous Visual Object Recognition and Position Estimation Using SIFT
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Real-time camera tracking for augmented reality
ICACT'09 Proceedings of the 11th international conference on Advanced Communication Technology - Volume 2
Avoiding moving outliers in visual SLAM by tracking moving objects
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A visual odometry framework robust to motion blur
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Improved inverse-depth parameterization for monocular simultaneous localization and mapping
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Visual topological SLAM and global localization
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
A relative frame representation for fixed-time bundle adjustment in SFM
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
Camera self-calibration for sequential Bayesian structure from motion
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Probabilistic structure matching for visual SLAM with a multi-camera rig
Computer Vision and Image Understanding
Horizon matching for localizing unordered panoramic images
Computer Vision and Image Understanding
IEEE Transactions on Multimedia
Simultaneous localization and mapping: A feature-based probabilistic approach
International Journal of Applied Mathematics and Computer Science - Special Section: Robot Control Theory Cezary Zielinski
Robust camera egomotion estimation from 3D straight line-based environment model
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Head-mounted 3D multi sensor system for modeling in daily-life environment
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
Inertial-aided KLT feature tracking for a moving camera
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Efficient camera-based pose estimation for real-time applications
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
On the error analysis of vertical line pair-based monocular visual odometry in urban area
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
1-point RANSAC for EKF-based structure from motion
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
An efficient area-based observation model for Monte-Carlo robot localization
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Normalized graph cuts for visual SLAM
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Monocular vision SLAM for indoor aerial vehicles
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Towards scene understanding using a co-operative of robots
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology
Wide-angle Visual Feature Matching for Outdoor Localization
International Journal of Robotics Research
Estimating 3D point-of-regard and visualizing gaze trajectories under natural head movements
Proceedings of the 2010 Symposium on Eye-Tracking Research & Applications
Robotic navigation in crowded environments: key challenges for autonomous navigation systems
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
An efficient closed-form solution to probabilistic 6D visual odometry for a stereo camera
ACIVS'07 Proceedings of the 9th international conference on Advanced concepts for intelligent vision systems
Exploiting distinctive visual landmark maps in pan-tilt-zoom camera networks
Computer Vision and Image Understanding
A nonparametric learning approach to range sensing from omnidirectional vision
Robotics and Autonomous Systems
ACM Transactions on Graphics (TOG)
International Journal of Robotics Research
Vast-scale Outdoor Navigation Using Adaptive Relative Bundle Adjustment
International Journal of Robotics Research
A sensor fusion framework using multiple particle filters for video-based navigation
IEEE Transactions on Intelligent Transportation Systems
Study of parameterizations for the rigid body transformations of the scan registration problem
Computer Vision and Image Understanding
Real-time hierarchical stereo Visual SLAM in large-scale environments
Robotics and Autonomous Systems
Combining monoSLAM with object recognition for scene augmentation using a wearable camera
Image and Vision Computing
Three 2D-warping schemes for visual robot navigation
Autonomous Robots
3D feature extraction from uncalibrated video clips
Proceedings of the 1st international workshop on 3D video processing
Augmented crime scenes: virtual annotation of physical environments for forensic investigation
Proceedings of the 2nd ACM workshop on Multimedia in forensics, security and intelligence
Online scene modeling for interactive AR applications
ICEC'10 Proceedings of the 9th international conference on Entertainment computing
Conditional localization and mapping using stereo camera
PRICAI'10 Proceedings of the 11th Pacific Rim international conference on Trends in artificial intelligence
Euclidean structure recovery from motion in perspective image sequences via Hankel rank minimization
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part II
Multiple target tracking in world coordinate with single, minimally calibrated camera
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part IV
On optimal dynamic sequential search for matching in real- time machine vision
IEEE Transactions on Image Processing
An evaluation of image feature detectors and descriptors for robot navigation
ICCVG'10 Proceedings of the 2010 international conference on Computer vision and graphics: Part II
The visual SLAM system for a hexapod robot
ICCVG'10 Proceedings of the 2010 international conference on Computer vision and graphics: Part II
Optimal Filtering for Non-parametric Observation Models: Applications to Localization and SLAM
International Journal of Robotics Research
ACM Transactions on Graphics (TOG)
Intuitive 3D Maps for MAV Terrain Exploration and Obstacle Avoidance
Journal of Intelligent and Robotic Systems
Realtime motion segmentation based multibody visual SLAM
Proceedings of the Seventh Indian Conference on Computer Vision, Graphics and Image Processing
Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-calibration
International Journal of Robotics Research
A smartphone-based obstacle sensor for the visually impaired
UIC'10 Proceedings of the 7th international conference on Ubiquitous intelligence and computing
Camera Models and Fundamental Concepts Used in Geometric Computer Vision
Foundations and Trends® in Computer Graphics and Vision
6DOF entropy minimization SLAM for stereo-based wearable devices
Computer Vision and Image Understanding
Omnidirectional Image Stabilization for Visual Object Recognition
International Journal of Computer Vision
On improved calibration method for the catadioptric omnidirectional vision with a single viewpoint
Multimedia Tools and Applications
Motion capture from body-mounted cameras
ACM SIGGRAPH 2011 papers
Wide-area augmented reality using camera tracking and mapping in multiple regions
Computer Vision and Image Understanding
Robotic mapping and localization with real-time dense stereo on reconfigurable hardware
International Journal of Reconfigurable Computing - Special issue on selected papers from ReconFig 2009 International conference on reconfigurable computing and FPGAs (ReconFig 2009)
Robotics and Autonomous Systems
Image-based homing navigation with landmark arrangement matching
Information Sciences: an International Journal
Estimating scale using depth from focus for mobile augmented reality
Proceedings of the 3rd ACM SIGCHI symposium on Engineering interactive computing systems
RSLAM: A System for Large-Scale Mapping in Constant-Time Using Stereo
International Journal of Computer Vision
Evaluation of Interest Point Detectors and Feature Descriptors for Visual Tracking
International Journal of Computer Vision
SCIA'11 Proceedings of the 17th Scandinavian conference on Image analysis
Interactive 3D modeling of indoor environments with a consumer depth camera
Proceedings of the 13th international conference on Ubiquitous computing
3D real-time positioning for autonomous navigation using a nine-point landmark
Pattern Recognition
Safety, Security, and Rescue Missions with an Unmanned Aerial Vehicle (UAV)
Journal of Intelligent and Robotic Systems
Simultaneous reconstruction and tracking of non-planar templates
DAGM'11 Proceedings of the 33rd international conference on Pattern recognition
Mobile surveillance by 3D-outlier analysis
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume Part I
Real-time camera tracking using a global localization scheme
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
Towards realtime handheld MonoSLAM in dynamic environments
ISVC'11 Proceedings of the 7th international conference on Advances in visual computing - Volume Part I
RT-SLAM: a generic and real-time visual SLAM implementation
ICVS'11 Proceedings of the 8th international conference on Computer vision systems
Visual simultaneous localisation and map-building supported by structured landmarks
International Journal of Applied Mathematics and Computer Science
Gyro-aided feature tracking for a moving camera: fusion, auto-calibration and GPU implementation
International Journal of Robotics Research
Path planning and traversable area marking for stereo vision-based 3D map building
International Journal of Computational Vision and Robotics
Real world haptic exploration for telepresence of the visually impaired
HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
Visual SLAM Based on Rigid-Body 3D Landmarks
Journal of Intelligent and Robotic Systems
Semantic parsing of street scenes from video
International Journal of Robotics Research
Mobile robot map building from time-of-flight camera
Expert Systems with Applications: An International Journal
Editors Choice Article: Visual SLAM: Why filter?
Image and Vision Computing
AnySURF: flexible local features computation
AAMAS'11 Proceedings of the 10th international conference on Advanced Agent Technology
Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines
International Journal of Computer Vision
Interest point detection through multiobjective genetic programming
Applied Soft Computing
Cooperative Indoor Radio Environment Mapping in Ad-hoc Wireless Cognitive Networks
Wireless Personal Communications: An International Journal
WCCI'12 Proceedings of the 2012 World Congress conference on Advances in Computational Intelligence
Robotics and Autonomous Systems
Walk&Sketch: create floor plans with an RGB-D camera
Proceedings of the 2012 ACM Conference on Ubiquitous Computing
Markerless visual tracking for augmented books
JVRC'09 Proceedings of the 15th Joint virtual reality Eurographics conference on Virtual Environments
State of the Art Report on Video-Based Graphics and Video Visualization
Computer Graphics Forum
Finding the exact rotation between two images independently of the translation
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part VI
Fast template matching of objects for visual SLAM
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
Nao robot localization and navigation using fusion of odometry and visual sensor data
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part II
Image and Vision Computing
How to localize humanoids with a single camera?
Autonomous Robots
OpenRatSLAM: an open source brain-based SLAM system
Autonomous Robots
Jointly compatible pair linking for visual tracking with probabilistic priors
ACSC '11 Proceedings of the Thirty-Fourth Australasian Computer Science Conference - Volume 113
Monocular pedestrian tracking from a moving vehicle
ACCV'12 Proceedings of the 11th international conference on Computer Vision - Volume 2
Gaussian Process Gauss-Newton for non-parametric simultaneous localization and mapping
International Journal of Robotics Research
Bubble space and place representation in topological maps
International Journal of Robotics Research
Scaled monocular SLAM for walking people
Proceedings of the 2013 International Symposium on Wearable Computers
Geometric particle swarm optimization for robust visual ego-motion estimation via particle filtering
Image and Vision Computing
Vision-based place recognition: how low can you go?
International Journal of Robotics Research
Lumitrack: low cost, high precision, high speed tracking with projected m-sequences
Proceedings of the 26th annual ACM symposium on User interface software and technology
Seeing is not believing: visual verifications through liveness analysis using mobile devices
Proceedings of the 29th Annual Computer Security Applications Conference
Depth estimation during fixational head movements in a humanoid robot
ICVS'13 Proceedings of the 9th international conference on Computer Vision Systems
AnySURF: flexible local features computation
Robot Soccer World Cup XV
Bearing-only visual SLAM for small unmanned aerial vehicles in GPS-denied environments
International Journal of Automation and Computing
Multi-view dense 3D modelling of untextured objects from a moving projector-cameras system
Machine Vision and Applications
Efficient keyframe-based real-time camera tracking
Computer Vision and Image Understanding
Multi-resolution surfel maps for efficient dense 3D modeling and tracking
Journal of Visual Communication and Image Representation
Incremental 3D reconstruction using Bayesian learning
Applied Intelligence
Closed-Form Solution of Visual-Inertial Structure from Motion
International Journal of Computer Vision
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
Machine Vision and Applications
FPGA-based module for SURF extraction
Machine Vision and Applications
Exploiting temporal and spatial constraints in traffic sign detection from a moving vehicle
Machine Vision and Applications
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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.