3-D localization and mapping using a single camera based on structure-from-motion with automatic baseline selection

This paper presents a system of 3-D simultaneous localization and mapping (SLAM) using monocular vision based on the structure-from-motion scheme. An crucial issue in applying structure-from-motion to SLAM is that accuracy depends heavily on the baseline distance. We address this problem by selecting an appropriate baseline based on criteria for the tradeoff between the baseline distance and the number of feature points visible in the images. Experimental results show that full 3-D sparse maps with camera trajectory were built from images captured with a handy camera.