Abstract
This paper discusses localisation and mapping techniques based on a single camera. After introducing the given problem, which is known as monocular SLAM, a new camera agnostic monocular SLAM system (CAM-SLAM) is presented. It was developed within the scope of this work and is inspired by recently proposed SLAM-methods. In contrast to most other systems, it supports any central camera model such as for omnidirectional cameras. Experiments show that CAM-SLAM features similar accuracy as state-of-the-art methods, while being considerably more flexible.
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Notes
- 1.
Or a set of cameras with non-overlapping images.
- 2.
As long as it is possible to extract and track salient image features.
- 3.
One could argue that this is an implicit epipolar check, since the re-projected position is located on the epipolar line.
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Acknowledgements
Martin Rünz has been partly supported by the SecondHands project, funded from the EU Horizon 2020 Research and Innovation programme under grant agreement No. 643950.
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Rünz, M., Neuhaus, F., Winkens, C., Paulus, D. (2016). Camera-Agnostic Monocular SLAM and Semi-dense 3D Reconstruction. In: Rosenhahn, B., Andres, B. (eds) Pattern Recognition. GCPR 2016. Lecture Notes in Computer Science(), vol 9796. Springer, Cham. https://doi.org/10.1007/978-3-319-45886-1_23
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