Hello 大家好,好久不见,今天为大家带来的是一篇RSS 2021年的文章,全文从很innovative的视角分析了一个很有意思的结论:“当特征观测误差的协方差矩阵是各向同性的时,在每个高斯-牛顿迭代(在解一个reformulate的基于最小二乘优化的SLAM时)中获得的机器人姿态和特征位置与上一步中的特征位置无关”,这个结论从理论上直...
Embodiments are disclosed for a feature-based simultaneous localization and mapping (SLAM) system and method that generates radio maps for environments that are not accessible for surveying. More accurate radio maps are generated for an unsurveyed environment by determining a best estimate of a mobile...
Petcu, "A class of algorithms for distributed con- straint optimization," PhD thesis, EPFL, 2007... A Petcu - 《Frontiers in Artificial Intelligence & Applications》 被引量: 102发表: 2009年 A self-repairing multiplexer-based FPGA inspired by biological processes Tempesti, G.: A Self-Repairing...
As there is a conflict between the requirements of computational complexity and information-richness within the point-feature based SLAM algorithm in outdoor environment, a point-to-line feature-based SLAM map building algorithm is presented in this paper. The tree information is sampled as point fe...
A Point-Line Feature based Visual SLAM Method in Dynamic Indoor Scene,程序员大本营,技术文章内容聚合第一站。
We present a dense-indirect SLAM system using external dense optical flows as input. We extend the recent probabilistic visual odometry model VOLDOR [Min et al. CVPR'20], by incorporating the use of geometric priors to 1) robustly bootstrap estimation from monocular capture, while 2) seamlessly...
We apply ORB-SLAM [15] in our framework, which is a state-of-the-art implementation of monocular vSLAM. For our experiments, we created vSLAM evaluation datasets by using the CARLA simulator [3] under various conditions. Compared to state-of-the-art methods, our method can achieve ...
摘要原文 Simultaneous localization and mapping: A feature-based probabilistic approach This article provides an introduction to Simultaneous Localization And Mapping (SLAM), with the focus on probabilistic SLAM utilizing a feature-based description of the environment. A probabilistic formulation of the SLAM...
同时定位和映射 (SLAM) 问题解决了机器人在未知环境中定位自身并同时构建该环境的一致地图的可能性。近来已成功利用相机获取环境特征进行SLAM,简称视觉SLAM(visual SLAM,VSLAM)。然而,当机器人的运动或环境太具有挑战性时,经典的 VSLAM 算法很容易失败。尽管基于深度神经网络 (DNN) 的新方法在 VSLAM 中取得了可喜的...
只要能持续的更新persistence,那么一个点的persistence降低,似乎会影响到它的整个clutter。 怎么样确定一个时刻位姿不确定性呢,不知道,做orbslam的过程里似乎没有这个变量啊。