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