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SLAM with one camera

asked 2011-02-16 05:29:06 -0500

updated 2014-01-28 17:09:09 -0500

could i use SLAM with one camera only?

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answered 2011-02-16 05:37:57 -0500

It's possible, but a bit more complicated than using two cameras. You are essentially using parallax in time (the camera position at one instant, and then the camera position at the next instant) to do feature recognition and localization.

Two resources for this come to mind:

  1. SLAM with a Single Camera, Davison 2002. I think that he has a bit more information on his own personal website.
  2. MPRT's kinect-3d-slam. I believe that this is also using the point cloud capabilities of the Kinect in addition to the vision data. ROS source code is available on their website, though, so it might be a good place to start work.
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Thank you for very detailed answer! noonv ( 2011-02-17 02:02:40 -0500 )edit
4

answered 2011-02-16 19:26:25 -0500

You might be interested in Hauke Strasdat's work: http://www.ros.org/wiki/ScaViSLAM

It's not released yet, but should be soon.

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Great video! Thank you! noonv ( 2011-02-17 02:09:17 -0500 )edit
3

answered 2011-03-01 22:59:43 -0500

updated 2011-03-01 23:02:18 -0500

And also RGBD-6D-SLAM (for kinect), as well as MonoSLAM (for a normal camera)

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answered 2011-03-02 05:24:08 -0500

You can also look at:

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Asked: 2011-02-16 05:29:06 -0500

Seen: 2,528 times

Last updated: Mar 02 '11