The DOI matches its Crossref record; 57 of the 57 references it cites were found in a registry or an index.
MonoSLAM: Real-Time Single Camera SLAM
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.
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“For example, UVIO [146] employs a transformer backbone to jointly learn from visual and IMU inputs, significantly improving pose estimation in dynamic environments.”
From Multimodal fusion and vision–language models: A survey for robot vision (2026) · cites this paper as [146]
Citations
Cites
Object recognition from local scale-invariant features
Lowe, D. G. (1999) · Proceedings of the Seventh IEEE International Conference on Computer Vision · doi:10.1109/iccv.1999.790410 · Cited by 16,472
Shi, J., & Tomasi (1994) · Proceedings of IEEE Conference on Computer Vision and Pattern Recognition CVPR-94 · doi:10.1109/cvpr.1994.323794 · Cited by 7,724
Lucas-Kanade 20 Years On: A Unifying Framework
Baker, S., & Matthews, I. A. (2004) · International Journal of Computer Vision · doi:10.1023/b:visi.0000011205.11775.fd · Cited by 3,159
A solution to the simultaneous localization and map building (SLAM) problem
Dissanayake, M. W. M. G., Newman, P., Clark, S., Durrant-Whyte, H. F., & Csorba, M. (2001) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.938381 · Cited by 2,661
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Montemerlo, M., Thrun, S., Koller, D., & Wegbreit, B. (2002) · doi:10.5555/777092.777184 · Cited by 2,085
Real-time simultaneous localisation and mapping with a single camera
Davison (2003) · IEEE International Conference on Computer Vision (ICCV) · doi:10.1109/iccv.2003.1238654 · Cited by 1,749
Nistér, D., Naroditsky, O., & Bergen, J. R. (2004) · Cited by 1,169
Nistér, D., Naroditsky, O., & Bergen, J. R. (2004) · IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings · doi:10.1109/cvpr.2004.1315094 · Cited by 1,031
Directed Sonar Sensing for Mobile Robot Navigation
Leonard, J. J., & Durrant-Whyte, H. F. (1992) · Springer eBooks · doi:10.1007/978-1-4615-3652-9 · Cited by 798
Inverse Depth Parametrization for Monocular SLAM
Civera, J., Davison, A. J., & Montiel, J. M. M. (2008) · IEEE Transactions on Robotics · doi:10.1109/tro.2008.2003276 · Cited by 768
Self-citation
Research works printed but not linked: 6
- Moutarlier, Stochastic Multisensory Data Fusion for Mobile Robot Location and Environement Modelling
- Neira, Mobile Robot Localisation and Map Building Using Monocular Vision
- 10.1007/BFb0054781 · DOI
- Sim, Vision-Based SLAM Using the Rao-Blackwellised Particle Filter
- Chiuso, "MFm": 3-D Motion from 2-D Motion Causally Integrated over Time
- Molton, Parameterisation and Probability in Image Alignment
Cited by
Sorted by citations
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
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual–Inertial, and Multimap SLAM
Campos, C., Elvira, R., Rodríguez, J. J. G., Montiel, J. M. M., & Tardos, J. D. (2021) · IEEE Transactions on Robotics · doi:10.1109/tro.2021.3075644 · Cited by 4,676
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
Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age
Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., Reid, I., & Leonard, J. J. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2624754 · Cited by 3,596
Self-citationBRISK: Binary Robust invariant scalable keypoints
Leutenegger, S., Chli, M., & Siegwart, R. (2011) · IEEE/CVF International Conference on Computer Vision (ICCV) · doi:10.1109/iccv.2011.6126542 · Cited by 3,689
Metadata
- Authors
- Davison, A. J., Reid, I. D., Molton, N. D., & Stasse, O.
- Affiliations
- University of Oxford (GB)
- Centre National de la Recherche Scientifique (FR)
- Venue
- IEEE Transactions on Pattern Analysis and Machine Intelligence
- Published
- 2007-06
- Volume
- 29
- Issue
- 6
- Pages
- 1052-1067
- ISSN
- 0162-8828 (ISSN-L)
- 2160-9292
- OpenAlex
- W2152671441
- Cited by
- 3,959
- References
- 57
- Citations by year
- 2026: 108 · 2025: 240 · 2024: 242 · 2023: 253 · 2022: 246 · 2021: 253 · 2020: 264 · 2019: 271 · 2018: 240 · 2017: 201 · 2016: 179 · 2015: 237 · 2014: 204 · 2013: 205 · 2012: 176
- FWCI
- 328.21
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE Transactions on Pattern Analysis and Machine Intelligence (publishedVersion)
- PubMed (publishedVersion)
- Spiral (Imperial College London) (submittedVersion)
- Funders
- Engineering and Physical Sciences Research Council (GR/R76790/02, GR/T24685/01, GR/R76790/01)
- Topics
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Robotics and Sensor-Based Localization
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Vision and Imaging
- Physical Sciences › Earth and Planetary Sciences › Geology › 3D Surveying and Cultural Heritage
- Keywords
- monocular SLAM, real-time SLAM, monocular camera, 3D trajectory estimation, natural landmarks, probabilistic mapping, feature initialization, 3D localization, humanoid robots, augmented reality, handheld camera
- MeSH terms
- Algorithms, Artificial Intelligence, Computer Systems, Image Enhancement, Image Interpretation, Computer-Assisted, Numerical Analysis, Computer-Assisted, Pattern Recognition, Automated, Photogrammetry, Signal Processing, Computer-Assisted, Video Recording, Information Storage and Retrieval, Imaging, Three-Dimensional
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