| Javier Civera |
| 1-Point
RANSAC Inverse Depth EKF Monocular
SLAM Matlab Code. Version 1.0 |
||
| This
code performs EKF Structure from Motion /
SLAM from a monocular sequence. That is, taking as the only input an
image sequence with known camera calibration, it estimates the 6
degrees-of-freedom camera motion and a sparse 3D map of point features
using the Extended Kalman Filter. Point features are coded using inverse depth. Spurious rejection is efficiently solved by a novel 1-point RANSAC algorithm. Find all the details here. |
||
| LICENSE | ||
| This code is released as free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation. Read http://www.gnu.org/copyleft/gpl.html. | ||
| If you use this code for academic work, please reference [1] | ||
| |
[1] | Javier
Civera, Óscar G. Grasa, Andrew J.
Davison, J. M. M. Montiel 1-Point RANSAC for EKF Filtering: Application to Real-Time Structure from Motion and Visual Odometry (draft) (video: monocular+odometry) Journal of Field Robotics, vol. 27(5), pp. 609-631, October 2010. |
| DOWNLOAD | ||
| Click here. | ||
| QUICK START | ||
| 1)
Download and unzip. 2) Go to matlab_code directory. The directory sequences contains an example sequence. 3) In Matlab, run mono_slam.m. The code will run using the example sequence. It should show something like this. |
||
| CONTACT | ||
| Questions,
comments, suggestions, discussion and
bug reports are welcomed. Please, mail to jcivera@unizar.es |
||
