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SLAM with one camera

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

noonv gravatar image

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

ngrennan gravatar image

could i use SLAM with one camera only?

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"feasability" is not your only concern

you got stereo systems that use the depth of each pixels (from intel realsense) and yet these system sometimes fail to SLAM with 100% accuracy

so I doubt one camera will give you reliable results

phil123456 gravatar image phil123456  ( 2020-02-19 16:08:13 -0500 )edit

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

mjcarroll gravatar image

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 gravatar image noonv  ( 2011-02-17 02:02:40 -0500 )edit

links are death

KOMODO gravatar image KOMODO  ( 2020-06-29 08:02:01 -0500 )edit

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

KoenBuys gravatar image

You can also look at:

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

raphael favier gravatar image

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

You might be interested in Hauke Strasdat's work:

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

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

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

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Last updated: Mar 02 '11