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Structure from Motion and Visual SLAM

Stereo vision, triangulation, 3-D reconstruction, and visual simultaneous localization and mapping (vSLAM)

Stereo vision is the process of recovering depth from camera images by comparing two or more views of the same scene. Structure from Motion (SfM) is the process of estimating the 3-D structure of a scene from a set of 2-D images. Visual simultaneous localization and mapping (vSLAM) is the process of calculating the position and orientation of a camera, with respect to its surroundings, while simultaneously mapping the environment. For more details, see Implement Visual SLAM in MATLAB and What is Structure from Motion?.


  • Stereo Vision
    Stereo rectification, disparity, and dense 3-D reconstruction
  • Structure from Motion
    3-D reconstruction from multiple views
  • vSLAM
    Monocular, stereo, and RGB-D visual simultaneous localization and mapping (vSLAM)