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SLAM with one camera

camera
SLAM

asked 2011-02-16 11:29:06 -0500

noonv
270 ● 13 ● 18 ● 29
http://robocraft.ru/

could i use SLAM with one camera only?

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answered 2011-02-16 11:37:57 -0500

flag of United States

4050 ● 50 ● 58 ● 83
http://mjcarroll.net/

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:

SLAM with a Single Camera, Davison 2002. I think that he has a bit more information on his own personal website.
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 08:02:40 -0500 )edit

4

answered 2011-02-17 01:26:25 -0500

flag of Germany

3332 ● 13 ● 32 ● 62
http://www.informatik.uni...

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 08:09:17 -0500 )edit

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answered 2011-03-02 04:59:43 -0500

raphael favier
1142 ● 20 ● 30 ● 43
http://www.turtlebot.eu/

updated 2011-03-02 05:02:18 -0500

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

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answered 2011-03-02 11:24:08 -0500

KoenBuys
2024 ● 16 ● 28 ● 52
http://people.mech.kuleuv...

You can also look at:

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Asked: 2011-02-16 11:29:06 -0500

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Last updated: Mar 02 '11

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