June 2007: Javier Civera, J. M. M. Montiel (University of Zaragoza) and I have been working on Dimensionless Monocular SLAM: a formulation of MonoSLAM which uses only dimensionless quantities and makes explicit the fact that a single camera builds maps with undetermined scale. In this formulation, the previous metric tuning parameters of Inverse Depth MonoSLAM (camera acceleration, frame-rate, expected scene depth, etc.) are combined into dimensionless constants which have an appealing intuitive interpretation in image space. This work is a further step towards being able to track any type of image sequence with a MonoSLAM-style probabilistic filtering approach.
Dimensionless Monocular SLAM (PDF format),
Javier Civera, Andrew J. Davison and J. M. M. Montiel, IBPRIA 2007.