The DOI matches its Crossref record; 22 of the 22 references it cites were found in a registry or an index.
Scalable Monocular SLAM
Abstract
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.
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Cites
A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking
Arulampalam, M. S., Maskell, S., Gordon, N., & Clapp, T. (2002) · IEEE Transactions on Signal Processing · doi:10.1109/78.978374 · Cited by 11,502
New extension of the Kalman filter to nonlinear systems
Julier, S. J., & Uhlmann, J. K. (1997) · SPIE Proceedings · doi:10.1117/12.280797 · Cited by 5,331
Real-time simultaneous localisation and mapping with a single camera
Davison (2003) · Proceedings Ninth IEEE International Conference on Computer Vision · doi:10.1109/iccv.2003.1238654 · Cited by 1,733
van der Merwe, R., Arnaud Doucet, B., de Freitas, N., & Wan, E. A. (2000) · Cited by 1,396
Fusing points and lines for high performance tracking
Rosten, E., & Drummond, T. (2005) · Tenth IEEE International Conference on Computer Vision (ICCV'05) Volume 1 · doi:10.1109/iccv.2005.104 · Cited by 1,119
Self-citationMontemerlo, M., Thrun, S., Roller, D., & Wegbreit, B. (2003) · Cited by 863
Guivant, J. E., & Nebot, E. M. (2001) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.938382 · Cited by 772
Simultaneous Localization and Mapping with Sparse Extended Information Filters
Thrun, S., Liu, Y., Koller, D., Ng, A. Y., Ghahramani, Z., & Durrant-Whyte, H. (2004) · The International Journal of Robotics Research · doi:10.1177/0278364904045479 · Cited by 651
Recursive estimation of motion, structure, and focal length
Azarbayejani, A., & Pentland, A. P. (1995) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/34.387503 · Cited by 484
Simultaneous localization and mapping with unknown data association using FastSLAM
Montemerlo, M., & Thrun, S. (2004) · 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) · doi:10.1109/robot.2003.1241885 · Cited by 462
Cited by
ORB-SLAM: A Versatile and Accurate Monocular SLAM System
Mur-Artal, R., Montiel, J. M. M., & Tardos, J. D. (2015) · IEEE Transactions on Robotics · doi:10.1109/tro.2015.2463671 · Cited by 6,778
Parallel Tracking and Mapping for Small AR Workspaces
Klein, G., & Murray, D. (2007) · 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality · doi:10.1109/ismar.2007.4538852 · Cited by 4,346
MonoSLAM: Real-time single camera SLAM
Davison, A. J., Reid, I. D., Molton, N. D., & Stasse, O. (2007) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2007.1049 · Cited by 3,959
A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation
Mourikis, A. I., & Roumeliotis, S. I. (2007) · Proceedings 2007 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2007.364024 · Cited by 1,951
Visual Place Recognition: A Survey
Lowry, S., Sünderhauf, N., Newman, P., Leonard, J. J., Cox, D., Corke, P., & Milford, M. J. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2015.2496823 · Cited by 1,079
Metadata
- Authors
- Eade, E., & Drummond, T.
- Venue
- 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1 (CVPR'06)
- Publisher
- IEEE
- Published
- 2006-07-10
- Volume
- 1
- Pages
- 469-476
- ISSN
- 1063-6919 (ISSN-L)
- OpenAlex
- W2171778162
- Cited by
- 396
- References
- 22
- FWCI
- 71.30
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Eade, E., & Drummond, T. (2006). Scalable Monocular SLAM. 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1 (CVPR'06). https://doi.org/10.1109/cvpr.2006.263
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