Multi-camera visual SLAM for off-road navigation 技术标签: 计算机视觉越野导航的多摄像机视觉SLAM 1. 发展 2. 多相机模型 2.1 相机成像模型 2.2 多相机模型 3. 系统模块 3.1 Tracking thread 3.2 mapping thread 3.3 Loop closure detection and correction 4. 实验对比 4.1 环路闭合检测精度 4.2 图像序列 5...
Multi-camera visual SLAM for off-road navigationMulti-cameraPanoramaOff-roadSimultaneous localization and mappingWith the rapid development of computer vision, vision-based simultaneous localization and mapping (vSLAM) plays an increasingly important role in the field of unmanned driving. However, ...
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...
Grey Ladybug six-camera rig in combination with a hand drawn map for offline loop closing in the context of visual odometry, which does not create a map. In terms of the underlying SLAM algorithm, our work is closely related to the large field of SFM in computer vision [7]. Furthe...
Multi-camera VSLAM: from former information losses to self-calibration J. Sola`, "Multi-camera VSLAM: from former information losses to self-calibration," in Proc. IEEE/RSJ Int'l Conf. Intelligent Robots and Systems Workshop on Visual SLAM: An Emerging Technology, San Diego, USA, Oct./Nov...
Visual SLAM的目标是使用移动智能体上的传感器来构建环境地图并实时计算出智能体在地图上的姿态。 相比之下,VO系统将重点放在计算智能体的自我运动上,而不是构建地图。SLAM地图的最大优势在于,它允许在BA之前的观测中进行匹配和使用,执行三种类型的数据关联(扩展了[1]中使用的术语): 短期数据关联 匹配在最后几秒钟...
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):...
In parallel, multi-camera systems are also deployed on ground vehicle platforms for use in applications such as autonomous driving. The work of Yang et al. (2020) proposed a simultaneous localization and mapping (SLAM) method using multiple cameras, and demonstrated that such a setup could ...
This work proposed a real-time 3D map building system based on the visual odometry information derived from a Multi-Camera hardware. The accurate odometry information and images derived from the proposed intuitive Multi-Camera hardware, so called Multi-Camera Unit (MCU), are used as an input for...
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...