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Monocular Vision Based SLAM for Mobile Robots

Abstract : 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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Contributor : Maxime Lhuillier <>
Submitted on : Tuesday, September 5, 2006 - 10:48:03 AM
Last modification on : Wednesday, April 21, 2021 - 8:34:02 AM
Long-term archiving on: : Friday, May 13, 2011 - 11:44:54 PM


  • 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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