Codes of Davison’s MonoSLAM

Recently, I am investigating codes of Davison's MonoSLAM.For God's name, it's horrible! Though the documents is well developed, the framework is too complicated to understand. So assistant tools are used, such as "Understander for C++" and "Source Insingt".With their help, things become easier, but still it's a hard work.

Publications of Andrew J. Davison do help me to understand Vision-based SLAM,especially MonoSLAM.

Now, I have put myself on Vision-based SLAM and my team are working hard on it.It's a chance but a challenge.

Visual SLAM

Classic Approaches to Visual SLAM

Davison, ICCV 2003
*Traditional SLAM approach (Extended Kalman Filter)
*Maintains full camera and feature covariance
*Limited to Gaussian uncertainty only

Nistér, ICCV 2003
*Structure-from-motion approach (Preemptive RANSAC)
*Frame-to-frame motion only
*Drift: No repeatable localization

Recent Approaches to Visual SLAM

Pupilli & Calway, BMVC 2005
*Traditional SLAM approach (Particle Filter)
*Greater robustness: handles multi-modal cases
*New features not rigorously initialized

Eade & Drummond, 2006
*FastSLAM approach (Particle Filter/Kalman Filter)
*Particleper camera hypothesis, Kalman filter for features
*Allows larger maps: update O(MlogN) instead of O(N2)