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SLAM with one camera

asked 2011-02-16 05:29:06 -0600

noonv gravatar image

updated 2014-01-28 17:09:09 -0600

ngrennan gravatar image

could i use SLAM with one camera only?

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answered 2011-02-16 05:37:57 -0600

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 imagenoonv ( 2011-02-17 02:02:40 -0600 )edit

answered 2011-02-16 19:26:25 -0600

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 imagenoonv ( 2011-02-17 02:09:17 -0600 )edit

answered 2011-03-01 22:59:43 -0600

raphael favier gravatar image

updated 2011-03-01 23:02:18 -0600

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 -0600

KoenBuys gravatar image

You can also look at:

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Asked: 2011-02-16 05:29:06 -0600

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Last updated: Mar 02 '11