Camera-Agnostic Monocular Slam And Semi-Dense 3d Reconstruction

This paper discusses localisation and mapping techniques based on a single camera. After introducing the given problem, which is known as monocular SLAM, a newcamera agnostic monocular SLAM system (CAM-SLAM) is presented. It was developed within the scope of this work and is inspired by recently proposed SLAM-methods. In contrast to most other systems, it supports any central camera model such as for omnidirectional cameras. Experiments show that CAM-SLAM features similar accuracy as state-of-the-art methods, while being considerably more flexible.