Basics and Advances in Monocular vSLAM

Hideaki Uchiyama; Takafumi  Taketomi; Sei  Ikeda; Shohei Mori

doi:10.1007/978-3-030-42234-9_5

Basics and Advances in Monocular vSLAM

Hideaki Uchiyama^*, Takafumi Taketomi, Sei Ikeda, Shohei Mori

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

Abstract

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.

Original language	English
Title of host publication	Smart Sensors and Systems
Subtitle of host publication	Technology Advancement and Application Demonstrations
Publisher	Springer, Cham
Pages	93-104
Number of pages	12
ISBN (Electronic)	9783030422349
ISBN (Print)	9783030422332
DOIs	https://doi.org/10.1007/978-3-030-42234-9_5
Publication status	Published - 1 Jan 2020
Externally published	Yes

Keywords

3D model generation
Augmented reality
Camera geometry
Camera pose estimation
Computer vision
Key-point matching
Monocular RGB camera
Robotics
Triangulation and bundle adjustment
Visual simultaneous localization and mapping (vSLAM)
vSLAM algorithm

ASJC Scopus subject areas

General Engineering

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10.1007/978-3-030-42234-9_5

Cite this

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abstract = "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.",

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author = "Hideaki Uchiyama and Takafumi Taketomi and Sei Ikeda and Shohei Mori",

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AU - Uchiyama, Hideaki

AU - Taketomi, Takafumi

AU - Ikeda, Sei

AU - Mori, Shohei

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AB - 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.

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KW - Augmented reality

KW - Camera geometry

KW - Camera pose estimation

KW - Computer vision

KW - Key-point matching

KW - Monocular RGB camera

KW - Robotics

KW - Triangulation and bundle adjustment

KW - Visual simultaneous localization and mapping (vSLAM)

KW - vSLAM algorithm

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BT - Smart Sensors and Systems

PB - Springer, Cham

ER -

Basics and Advances in Monocular vSLAM

Abstract

Keywords

ASJC Scopus subject areas

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