Real-time 6-DOF monocular visual SLAM in a large-scale environment

  title={Real-time 6-DOF monocular visual SLAM in a large-scale environment},
  author={Hyon Lim and Jongwoo Lim and Hyoun Jin Kim},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
Real-time approach for monocular visual simultaneous localization and mapping (SLAM) within a large-scale environment is proposed. From a monocular video sequence, the proposed method continuously computes the current 6-DOF camera pose and 3D landmarks position. The proposed method successfully builds consistent maps from challenging outdoor sequences using a monocular camera as the only sensor, while existing approaches have utilized additional structural information such as camera height from… CONTINUE READING
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