GPS, LASER odometry and most recently Visual Odometry (VO) [88] and Simultaneous Localization and Mapping (SLAM) [36,38] methods have been proposed. VO is the process of estimating the egomotion of an agent (e.g., vehicle, human, and robot) using only the input of a...
An Overview to Visual Odometry and Visual SLAM Applications to Mobile Robotics Iterative Closest Point (ICP) algorithm:Besl, P., McKay, N.: A method for registration of 3-D shapes. IEEE Trans. Pattern Anal. Mach. Intell. 14(2), 239–256 (1992) Sparse Bundle Adjustment (SBA) :Lourakis...
动态环境中移动物体的存在使得传统的SLAM方法难以准确估计机器人的位置和构建环境地图。这些移动物体会在相机的视野中留下错误的特征点,这些特征点会误导SLAM系统的定位和地图构建过程。因此,研究如何在动态环境中实现准确的SLAM系统具有重要的现实意义。 现有的动态SLAM方法大多需要预先定义动态物体的类别,并且需要较高的...
针对动态环境中的定位与地图构建问题，本文提出了一种在线视觉SLAM（OVD-SLAM）系统。动态环境中存在移动物体，这使得传统的SLAM方法难以准确估计机器人的位置和构建环境地图。移动物体在相机视野中留下错误特征点，误导SLAM系统的定位与地图构建。因此，研究在动态环境中实现准确SLAM系统的现实意义重大。现有动...
Visual SLAM, planning, and control Rahul Kala, in Autonomous Mobile Robots, 2024 3.5.2 Completeness, optimality, and soundness Completeness is a property of the algorithm that guarantees to find at least one solution, provided one exists. Complete algorithms find at least one trajectory that connec...
This article gives an overview of simultaneous localization and mapping (SLAM), that is, probabilistic methods to generate a 2D or 3D map of unknown areas ... A Birk,M Pfingsthorn - John Wiley & Sons, Inc. 被引量: 6发表: 2016年 Simultaneous Localization and Mapping (SLAM) in Mobile Rob...
ch2 Overview of SLAM & linux, cmake ch3 Rigid body motion & Eigen ch4 Lie group and Lie Algebra & Sophus ch5 Cameras and Images & OpenCV ch6 Non-linear optimization & Ceres, g2o ch7 Feature based Visual Odometry ch8 Direct (Intensity based) Visual Odometry ch9 Project ch10 Back end op...
Supervised learning SLAM: Simultaneous localization and mapping UAS: Unmanned aerial systems UAV: Unmanned aerial vehicles UL: Unsupervised learning VO: Visual odometry References Mohamed N, Al-Jaroodi J, Jawhar I, Idries A, Mohammed F. Unmanned aerial vehicles applications in future smart ...
Visual SLAM的目标是使用移动代理上的传感器来构建环境地图,并实时计算该地图中代理的姿态。相比之下,VO系统将重点放在计算代理的自我运动上,而不是构建地图。SLAM映射的最大优点是,它允许在BA中匹配和使用以前的观测,执行三种类型的数据关联(扩展[1]中使用的术语):...
Visual SLAM的目标是使用移动代理上的传感器构建环境地图,并实时计算该地图中代理的姿态。相比之下,VO系统将重点放在计算代理的自我运动上,而不是构建地图。SLAM图的最大优点是,它允许在BA中匹配和使用先前的观察结果,执行三种类型的数据关联(扩展[1]中使用的术语):...