May 2006: Together with J. M. M. Montiel and Javier Civera from the University of Zaragoza, I have been working on a new unified parameterisation for EKF-based monocular SLAM which permits the smooth initialisation of features over much wider depth ranges than my previous particle method, and even copes with features potentially “at infinity”. The results of this work were presented at the Robotics: Science and Systems conference (RSS 2006) in August. The following movie shows the method at work initialising features during a challenging outdoor motion with some features at very large depths. Some of these features retain very high depth uncertainties throughout the sequence. Note that Matlab-based code implementing MonoSLAM and the inverse depth concept was part of one of the practical exercises at the SLAM Summer School 2006 and can be downloaded from the website.
Unified Inverse Depth Parametrization for Monocular SLAM (PDF format),
J. M. M. Montiel, Javier Civera and Andrew J. Davison, RSS 2006.