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Output details

11 - Computer Science and Informatics

Imperial College London

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Output 102 of 201 in the submission

Article title

Inverse Depth Parametrization for Monocular SLAM

Type

D - Journal article

DOI

10.1109/TRO.2008.2003276

Title of journal

IEEE Transactions on Robotics

Article number

Volume number

Issue number

First page of article

932

ISSN of journal

1552-3098

Year of publication

2008

URL

Number of additional authors

Additional information

<23>This highly cited work, now a standard reference, is the culmination of several years of collaboration with the University of Zaragoza. It generalises "Unified inverse depth parametrization for monocular SLAM", the most highly cited paper ever published at the elite Robotics: Science and Systems Conference. We solved a significant problem in initialising features in monocular SLAM via an elegant new parameterisation which efficiently represents depth uncertainty. The technique is widely used, including in a major forthcoming consumer home robotics product (currently confidential). Our open source implementation (http://www.robots.ox.ac.uk/~SSS06/Website/index.html) has been downloaded thousands of times and used in international summer schools.

Interdisciplinary

Cross-referral requested

Research group

C - Visual Information Processing

Citation count

163

Proposed double-weighted

Double-weighted statement

Reserve for a double-weighted output

Non-English

English abstract