Basics and Advances in Monocular vSLAM

This chapter presents basics and recent advances in visual tracking for augmented reality, computer vision, and robotics applications. Specifically, we focus on visual simultaneous localization and mapping (vSLAM) algorithms that allow both camera pose estimation and 3D model generation in unprepared environments. Owing to recent advances of the computational efficiency in vSLAM algorithms, vSLAM using a monocular RGB camera can run in real time even on mobile devices, and therefore has been used in various applications. In this chapter, we summarize basic computer vision technologies used in vSLAM and review existing vSLAM algorithms.