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Conference Papers Year : 2006

Monocular Vision Based SLAM for Mobile Robots


This paper describes a new vision based method for the Simultaneous Localization and Mapping of mobile robots. The only data used is a video input from a moving cali- brated monocular camera. From the detection and match- ing of interest points in images at video rate, robust esti- mates of the camera poses are computed in real-time and a 3D map of the environment is reconstructed. The computed 3D structure is constantly refined thanks to the introduction of a fast and local bundle adjustment method that makes this approach particularly accurate and reliable. Actually, this method can be seen as a new visual tool that may be used in conjunction with usual systems (GPS, inertia sensors, etc) in SLAM applications.
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Dates and versions

hal-00091060 , version 1 (05-09-2006)


  • HAL Id : hal-00091060 , version 1


Etienne Mouragnon, Maxime Lhuillier, Michel Dhome, Fabien Dekeyser, Patrick Sayd. Monocular Vision Based SLAM for Mobile Robots. 2006, 5 p. ⟨hal-00091060⟩
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