也就是说当机器人的姿态被fixed时,整个SLAM问题退化成一个有closed-form解的线性最小二乘问题。 受到Theorem 2的启发,我们可以设计一种pose-only的算法,在优化过程当中只优化pose但是却和传统的GN-SLAM有相同的结果,因为优化过程中没有feature map的参与,所以整个优化过程更快更稳定,算法如论文中所阐述, alt text...
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...
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...
RGB-D dense SLAM with keyframe-based method Closing和ORB-SLAM2一样,使用DBoW2来检测回环候选关键帧。当找到回环时,执行本质图优化和全局的BA。为了与更新后的相机位姿和特征位置保持一致,使用变形图更新生成的稠密表面中面元的位置和...姿,而稠密SLAM系统同时输出相机位姿以及重建区域的稠密表面。本文结合了基于...
There are two issues that make the Simultaneous Localization and Mapping (SLAM) problem particularly hard if a legged robotic platform in unstructured environment is considered: (i) the environment maps employed by typical SLAM algorithms rarely are suitable for supporting motion planning functions (...
In recent years some direct monocular SLAM methods have appeared achieving impressive semi-dense or dense 3D scene reconstruction. At the same time, feature-based monocular SLAM methods can obtain more accurate trajectory than direct methods, but only obtain sparse feature point map rather than semi...
This repository contains my implementation of feature-based EKF SLAM with unsupervised learning. I implemented all the packages from Scratch using ROS in C++. Please visit my website for more information about this project. For further information about the packages, classes, and methods used in th...
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。
[2018]Mask-SLAM_ Robust feature-based monocular SLAM by masking using semantic segmentation,程序员大本营,技术文章内容聚合第一站。
The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been successfully used to get the environment's features to perform SLAM, ...