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Visual Simultaneous Localization and Mapping (vSLAM)

Visual SLAM map initialization, tracking, local mapping, loop detection, and drift correction

Visual simultaneous localization and mapping (vSLAM), refers to the process of calculating the position and orientation of a camera, with respect to its surroundings, while simultaneously mapping the environment. The process uses only visual inputs from the camera. Applications for visual SLAM include augmented reality, robotics, and autonomous driving. For more details, seeImplement Visual SLAM in MATLAB.

Functions

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detectSURFFeatures Detect SURF features and returnSURFPointsobject
detectORBFeatures Detect ORB keypoints and return anORBPointsobject
extractFeatures Extract interest point descriptors
matchFeatures Find matching features
matchFeaturesInRadius Find matching features within specified radius
triangulate 3-D locations of undistorted matching points in stereo images
img2world2d Determine world coordinates of image points
world2img Project world points into image
estgeotform2d Estimate 2-D geometric transformation from matching point pairs
estgeotform3d Estimate 3-D geometric transformation from matching point pairs
estimateFundamentalMatrix Estimate fundamental matrix from corresponding points in stereo images
estworldpose Estimate camera pose from 3-D to 2-D point correspondences
findWorldPointsInView Find world points observed in view
findWorldPointsInTracks Find world points that correspond to point tracks
estrelpose Calculate relative rotation and translation between camera poses
optimizePoses Optimize absolute poses using relative pose constraints
createPoseGraph Create pose graph
bundleAdjustment Adjust collection of 3-D points and camera poses
bundleAdjustmentMotion Adjust collection of 3-D points and camera poses using motion-only bundle adjustment
bundleAdjustmentStructure Refine 3-D points using structure-only bundle adjustment
imshow Display image
showMatchedFeatures Display corresponding feature points
plot Plot image view set views and connections
plotCamera Plot a camera in 3-D coordinates
pcshow Plot 3-D point cloud
pcplayer Visualize streaming 3-D point cloud data
imageviewset Manage data for structure-from-motion, visual odometry, and visual SLAM
worldpointset Manage 3-D to 2-D point correspondences
indexImages Create image search index
invertedImageIndex Search index that maps visual words to images
bagOfFeatures Bag of visual words object

Topics