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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 (depuis R2019a)
extractFeaturesExtract interest point descriptors
matchFeaturesFind matching features
matchFeaturesInRadiusFind matching features within specified radius (depuis R2021a)
triangulate3-D locations of undistorted matching points in stereo images
img2world2dDetermine world coordinates of image points (depuis R2022b)
world2imgProject world points into image (depuis R2022b)
estgeotform2dEstimate 2-D geometric transformation from matching point pairs (depuis R2022b)
estgeotform3dEstimate 3-D geometric transformation from matching point pairs (depuis R2022b)
estimateFundamentalMatrixEstimate fundamental matrix from corresponding points in stereo images
estworldposeEstimate camera pose from 3-D to 2-D point correspondences (depuis R2022b)
findWorldPointsInViewFind world points observed in view (depuis R2020b)
findWorldPointsInTracksFind world points that correspond to point tracks (depuis R2020b)
estrelposeCalculate relative rotation and translation between camera poses (depuis R2022b)
optimizePosesOptimize absolute poses using relative pose constraints (depuis R2020a)
createPoseGraphCreate pose graph (depuis R2020a)
bundleAdjustmentAdjust collection of 3-D points and camera poses
bundleAdjustmentMotionAdjust collection of 3-D points and camera poses using motion-only bundle adjustment (depuis R2020a)
bundleAdjustmentStructureRefine 3-D points using structure-only bundle adjustment (depuis R2020a)
imshowDisplay image
showMatchedFeaturesDisplay corresponding feature points
plotPlot image view set views and connections (depuis 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 (depuis R2020a)
worldpointsetManage 3-D to 2-D point correspondences (depuis 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 (depuis R2023b)
addFrameAdd image frame to visual SLAM object (depuis R2023b)
hasNewKeyFrameCheck if new key frame added in visual SLAM object (depuis R2023b)
checkStatusCheck status of visual SLAM object (depuis R2023b)
isDoneEnd-of-file status (logical)
mapPointsBuild 3-D map of world points (depuis R2023b)
posesAbsolute camera poses of key frames (depuis R2023b)
plotPlot 3-D map points and estimated camera trajectory in visual SLAM (depuis R2023b)
resetReset visual SLAM object (depuis R2023b)