Design and Evaluation of a Generic Visual SLAM Framework for Multi-Camera Systems 摘要 本文提出了一个通用多相机视觉SLAM框架,以及相关的数据集。代码开源在MultiCamSLAM。 问题描述 所提出的通用视觉SLAM pipeline如下图所示。 令使用的相机数量为Nc,每个相机cp相对于body系的外参为BTp={BRp,Btp},内参为Kp。关...
However, traditional SLAM methods based on a monocular camera only perform well in simple indoor environments or urban environments with obvious structural features. In off-road environments, the situation that SLAM encounters could be complicated by problems such as direct sunlight, leaf occlusion, ...
Multi-Camera Visual SLAM for Autonomous Navigation of Micro Aerial Vehicles Multi-CameraVisualSLAMforAutonomousNavigationof Micro Aerial Vehicles 阅读笔记 微型飞行器自主导航的多摄像机视觉...方向(向前和向下)上的两个摄像机来捕获更关键的视图来扩展视觉系统的视野,如图所示。多相机视觉SLAM前端 概述 可视化SLAM...
In addition, we include a performance evaluation on accurate ground truth and compare the robustness of the proposed method to a single camera version of the SLAM system. An open source implementation of the proposed multi-fisheye camera SLAM system can be found on-line this https URL . 展开 ...
摘要: The use of a multi-camera system enables a robot to obtain a surround view, and thus, maximize its perceptual awareness of its environment. If vision-based simultaneous localizatio... 查看全部>>关键词: Micro aerial vehicles Multi-camera systems Self-calibration Simultaneous localization and...
摘要:本文介绍了ORB-SLAM3,这是第一个能够使用单目、立体和RGB-D相机,使用针孔和鱼眼镜头模型,执行视觉、视觉惯性和多地图SLAM的系统。 第一个主要创新是基于特征的紧密集成视觉惯性SLAM系统,该系统完全依赖最大后验(MAP)估计,即使在IMU初始化阶段也是如此。其结果是,该系统能够在小型和大型室内外环境中实时稳定运行...
Visual SLAM is an area of vivid research and bears countless applications for moving robots. In particular, micro aerial vehicles benefit from visual sensors due to their low weight. Their motion is, however, often faster and more complex than that of ground-based robots which is why systems ...
本发明涉及一种基于Multi‑Camera/Lidar/IMU的多传感器SLAM方法,由多目相机获得的多张图像数据与IMU惯性测量单元获得的数据进行紧耦合联合初始化,获得系统的初始位姿;由激光雷达传感器获得激光雷达帧的点云数据,对点云数据进行预处理,将点云划分为强角点、弱角点、强平面点、弱平面点;通过系统的初始位姿对激光雷达帧...
Cameras are often a good choice as the primary outward-looking sensor for mobile robots, and a wide field of view is usually desirable for responsive and accurate navigation, SLAMand relocalisation. While this can potentially be provided by a single omnidirectional camera, it can also be flexibly...
IV. CAMERA MODEL 本节将相机模型从 SLAM 管道中抽象出来,提取与相机模型相关的属性和函数,包括投影和反投影函数、雅可比等。由于流行的计算机视觉算法假设了针孔模型,SLAM 系统需要进行图像矫正或者像素坐标矫正,以在理想成像平面上工作。然而,鱼眼镜头的 FOV 可达 180 度或更多。图像矫正会导致边缘物体被放大而中心物...