Virtual reality, augmented reality, robotics, and autonomous driving have attracted much
attention from the academic and industrial communities, in which visual SLAM (VSLAM) is a …

Visual place recognition is a challenging problem due to the vast range of ways in which the
appearance of real-world places can vary. In recent years, improvements in visual sensing …

We present a real-time algorithm which can recover the 3D trajectory of a monocular
camera, moving rapidly through a previously unknown scene. Our system, which we dub …

While the most accurate solution to off-line structure from motion (SFM) problems is
undoubtedly to extract as much correspondence information as possible and perform batch …

In this paper, we present incremental smoothing and mapping (iSAM), which is a novel
approach to the simultaneous localization and mapping problem that is based on fast …

This paper describes a real-time feature-based stereo SLAM system that is robust and
accurate in a wide variety of conditions–indoors, outdoors, with dynamic objects, changing …

Localization and mapping in unknown environments becomes more difficult as the
complexity of the environment increases. With conventional techniques, the cost of …

In this paper, we describe a system that can carry out simultaneous localization and
mapping (SLAM) in large indoor and outdoor environments using a stereo pair moving with …

While many visual simultaneous localization and mapping (SLAM) systems use point
features as landmarks, few take advantage of the edge information in images. Those SLAM …

Augmented reality has been an active area of research for the last two decades or so. This
paper presents a comprehensive review of the recent literature on tracking methods used in …