Monocular SLAM for Visual Odometry

@article{Mungua2007MonocularSF,
  title={Monocular SLAM for Visual Odometry},
  author={Rodrigo Mungu{\'i}a and Antoni Grau},
  journal={2007 IEEE International Symposium on Intelligent Signal Processing},
  year={2007},
  pages={1-6}
}
The ego-motion online estimation process from a video input is often called visual odometry. Typically optical flow and structure from motion (SFM) techniques have been used for visual odometry. Monocular simultaneous localization and mapping (SLAM) techniques implicitly estimate camera ego-motion while incrementally build a map of the environment. However in monocular SLAM, when the number of features in the system state increases, the computational cost grows rapidly; consequently maintaining… CONTINUE READING