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

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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.

Original language	English
Title of host publication	Smart Sensors and Systems
Subtitle of host publication	Technology Advancement and Application Demonstrations
Publisher	Springer International Publishing
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 - Jan 1 2020

All Science Journal Classification (ASJC) codes

Engineering(all)

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

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Basics and advances in monocular vSLAM

Abstract

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