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Monocular, stereo, and RGB-D visual simultaneous localization and mapping (vSLAM)

Visual simultaneous localization and mapping (vSLAM), refers to the process of calculating the position and orientation of a camera, with respect to its surroundings, while simultaneously mapping the environment. The process uses only visual inputs from the camera. Applications for visual SLAM include augmented reality, robotics, and autonomous driving. For more details, see Implement Visual SLAM in MATLAB.


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detectSURFFeaturesDetect SURF features
detectORBFeaturesDetect ORB keypoints (Since R2019a)
extractFeaturesExtract interest point descriptors
matchFeaturesFind matching features
matchFeaturesInRadiusFind matching features within specified radius (Since R2021a)
triangulate3-D locations of undistorted matching points in stereo images
img2world2dDetermine world coordinates of image points (Since R2022b)
world2imgProject world points into image (Since R2022b)
estgeotform2dEstimate 2-D geometric transformation from matching point pairs (Since R2022b)
estgeotform3dEstimate 3-D geometric transformation from matching point pairs (Since R2022b)
estimateFundamentalMatrixEstimate fundamental matrix from corresponding points in stereo images
estworldposeEstimate camera pose from 3-D to 2-D point correspondences (Since R2022b)
findWorldPointsInViewFind world points observed in view (Since R2020b)
findWorldPointsInTracksFind world points that correspond to point tracks (Since R2020b)
estrelposeCalculate relative rotation and translation between camera poses (Since R2022b)
optimizePosesOptimize absolute poses using relative pose constraints (Since R2020a)
createPoseGraphCreate pose graph (Since R2020a)
bundleAdjustmentAdjust collection of 3-D points and camera poses
bundleAdjustmentMotionAdjust collection of 3-D points and camera poses using motion-only bundle adjustment (Since R2020a)
bundleAdjustmentStructureRefine 3-D points using structure-only bundle adjustment (Since R2020a)
imshowDisplay image
showMatchedFeaturesDisplay corresponding feature points
plotPlot image view set views and connections (Since R2020a)
plotCameraPlot a camera in 3-D coordinates
pcshowPlot 3-D point cloud
pcplayerVisualize streaming 3-D point cloud data
imageviewsetManage data for structure-from-motion, visual odometry, and visual SLAM (Since R2020a)
worldpointsetManage 3-D to 2-D point correspondences (Since R2020b)
indexImagesCreate image search index
invertedImageIndexSearch index that maps visual words to images
bagOfFeaturesBag of visual words object
monovslamVisual simultaneous localization and mapping (vSLAM) with monocular camera (Since R2023b)
addFrameAdd image frame to visual SLAM object (Since R2023b)
hasNewKeyFrameCheck if new key frame added in visual SLAM object (Since R2023b)
checkStatusCheck status of visual SLAM object (Since R2023b)
isDoneEnd-of-file status (logical)
mapPointsBuild 3-D map of world points (Since R2023b)
posesAbsolute camera poses of key frames (Since R2023b)
plotPlot 3-D map points and estimated camera trajectory in visual SLAM (Since R2023b)
resetReset visual SLAM object (Since R2023b)