Motion and Saliency Based Monocular SLAM

Feature extraction is a key component of a Monocular Simultaneous Localization and Mapping (Monocular SLAM) system, which permits to extract features that can be reliably tracked over frames. This paper proposes a novel approach for Monocular SLAM that uses the information on the camera displacement and image saliency to adequately extract stable features, which will be prompt to produce sufficient parallax that is essential to ensure precise localization and mapping. The results obtained from real data show that the proposed method outclasses the state of the art method both in precision and computational speed