J. M. M. Montiel

Visual SLAM: Why filter?

Scale Drift-Aware Large Scale Monocular SLAM

State of the art visual SLAM systems have recently been presented which are capable of accurate, large-scale and real-time performance, but most of these require stereo vision.I...

Double window optimisation for constant time visual SLAM

We present a novel and general optimisation framework for visual SLAM, which scales for both local, highly accu-rate reconstruction and large-scale motion with long loop closure...

Inverse Depth Parametrization for Monocular SLAM

We present a new parametrization for point features within monocular simultaneous localization and mapping (SLAM) that permits efficient and accurate representation of uncertain...