Abstract-We present a real-time algorithm which can recover the 3D trajectory of a monocular camera, moving rapidly through a previously unknown scene. Our system, which we dub MonoSLAM, is the first successful application of the SLAM methodology from mobile robotics to the "pure vision" domain of a single uncontrolled camera, achieving real time but drift-free performance inaccessible to Structure from Motion approaches. The core of the approach is the online creation of a sparse but persistent map of natural landmarks within a probabilistic framework. Our key novel contributions include an active approach to mapping and measurement, the use of a general motion model for smooth camera movement, and solutions for monocular feature initialization and feature orientation estimation. Together, these add up to an extremely efficient and robust algorithm which runs at 30 Hz with standard PC and camera hardware. This work extends the range of robotic systems in which SLAM can be usefully applied, but also opens up new areas. We present applications of MonoSLAM to real-time 3D localization and mapping for a high-performance full-size humanoid robot and live augmented reality with a hand-held camera.

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It is agreed that stilus tablets are very important documentary sources, however they are the most difficult to decipher. The difficulties in deciphering them is due to the rough surface of the tablets, the low brightness contrast of the incisions, the dense wood-grain lines, and the badly stained and pitted nature of the tablets. All of these posit a challenge for conventional two-dimensional (2D) image analysis. This chapter aims to provide a system that would aid the historian in interpreting stilus tablets by improving the legibility of the tablets. It provides novel ways of determining the texts incised on the tablets. One of these is the use of three-dimensional (3D) image analysis techniques. Such a technique is capable of detecting incisions, compared to the 2D image analysis, and is portable and inexpensive. Another method that can be used is the use of shadow stereo. This method employs low raking angle light close to the plane of the tablet at different elevations. The chapter also discusses the image formation process and the process of choosing elevations for each azimuth direction. The chapter also includes a discussion on realizing the shadow stereo algorithm.