{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/keyframe-based-monocular-slam-design-survey","title":"Keyframe-based monocular SLAM: design, survey, and future directions","arxiv_id":"1607.00470","date":"2016-07-02","proceeding":null,"authors":["Georges Younes","Daniel Asmar","Elie Shammas","John Zelek"],"abstract":"Extensive research in the field of monocular SLAM for the past fifteen years\nhas yielded workable systems that found their way into various applications in\nrobotics and augmented reality. Although filter-based monocular SLAM systems\nwere common at some time, the more efficient keyframe-based solutions are\nbecoming the de facto methodology for building a monocular SLAM system. The\nobjective of this paper is threefold: first, the paper serves as a guideline\nfor people seeking to design their own monocular SLAM according to specific\nenvironmental constraints. Second, it presents a survey that covers the various\nkeyframe-based monocular SLAM systems in the literature, detailing the\ncomponents of their implementation, and critically assessing the specific\nstrategies made in each proposed solution. Third, the paper provides insight\ninto the direction of future research in this field, to address the major\nlimitations still facing monocular SLAM; namely, in the issues of illumination\nchanges, initialization, highly dynamic motion, poorly textured scenes,\nrepetitive textures, map maintenance, and failure recovery.","url_abs":"http://arxiv.org/abs/1607.00470v2","url_pdf":"http://arxiv.org/pdf/1607.00470v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"keyframe-based-monocular-slam-design-survey","repo_url":"https://github.com/adioshun/gitBook_DeepSlam","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"survey","task_name":"Survey"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/1607.00470","atlas_url":"https://app.syntology.ai/?focus=1607.00470","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}