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I am looking for a book where some monocular/visual SLAM is described and implemented.

Can you list and recommend some?

I'd like to use OpenCV but that is not a requirement.

Unapiedra
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I don't know of a book with a description of such an algorithm, but there's a complete open source implementation (in C++) of a vslam system available as part of the Robot Operating System. It uses SURF descriptors and vocabulary trees for place recognition, and bundle adjustment for SLAM. It does use OpenCV heavily as it's made by the same people. See the website here. I can't say for sure as they don't mention and I haven't looked in great detail, but their implementation seems to be based on, or at least is similar to, this paper.

Edit: The paper linked above was actually written by the people who implemented the vslam system given above, it appears. So it is definitely a good resource for understanding it.

Sean
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  • Thanks, that paper looks good. I'm still looking for some explanation with a "teaching-focus" (rather than a "That's what we did"-focus) but for now I'll close this question. – Unapiedra Aug 01 '11 at 10:01
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I don't know about a book, but maybe PTAM can be useful. The ISMAR 2007 paper by Klein has a description about the system and the source code is available so you can check the details.

Of course, PTAM is just a (good) method in the SLAM field.

TH.
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  • Here is a proper (i.e. available to all) link for that paper: http://www.robots.ox.ac.uk/~gk/publications/KleinMurray2007ISMAR.pdf – Unapiedra Jul 25 '11 at 13:17
  • @TH I am looking at a book. I'd like some sample implementation with pseudo code (or not) that is explained. All those various research papers tend to be sparse in detail. Also, I won't look at their source code because I want to be able to use and modify my program freely. – Unapiedra Jul 25 '11 at 13:20