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。关键帧记为xn∈SE(3),n∈1...N,对应的body位姿为wTB。路标点记为lm∈R3,m∈1...M...
To counter such problems, we propose a panoramic vision SLAM method based on multi-camera collaboration, aiming at utilizing the characters of panoramic vision and stereo perception to improve the localization precision in off-road environments. At the same time, the independence and information ...
In recent years many vision based systems that perform simultaneous localization and mapping (SLAM) have been presented and released as open source. In this paper, we extend and improve upon a state-of-the-art SLAM to make it applicable to arbitrary, rigidly coupled multi-camera systems (MCS)...
Self-calibration and visual SLAM with a multi-camera system on a micro aerial vehicle 来自 掌桥科研 喜欢 0 阅读量: 285 作者:L Heng,GH Lee,M Pollefeys 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 ...
SLAM-based的方法虽然不需要一个先验地图, 但是需要一个帧间匹配的穷举搜索, 还需要回环检测(有时候会失效).通过基于先验地图, 我们移除了寻找帧间匹配和回环的需求, 我们也不需要做全局BA. 我们方案更加简单, 鲁邦, 计算更加轻量."The world is a giant chessboard."...
6. Build MultiCol-SLAM: Ubuntu: This is tested with Ubuntu 16.04. Before you build MultiCol-SLAM, you have to build and install OpenCV and Pangolin. This can for example be done by running the following: Build Pangolin: sudo apt-get install libglew-dev cmake git clone https://github.com...
Camera-basedsimultaneouslocalizationandmappingorvisualSLAMhasreceivedmuchattention recently.Typicallysinglecameras,multiplecamerasinastereosetuporomni-directionalcamerasare used.Weproposeadifferentapproach,wheremultiplecamerascanbemountedonarobotinanarbitrary configuration.Allowingthecamerastofaceindifferentdirectionsyieldsbet...
The performance of single-camera SLAM is improved when wide-angle optics provide a eld of view greater than the 40 to 50 degrees lenses normally used in computer vision. The issue is one of feature contact: each landmark object mapped re... AJ Davison,AG Cid,N Kita - 《Proc.ifac Symp...
The SLAM (Simultaneous Localization and Mapping) problem is one of the essen-tials challenges for the current robotics. Our main objective in this work is to perform a comparison between a visual SLAM system using monocular omnidirection... A Rituerto,L Puig,JJ Guerrero 被引量: 14发表: 2010...
Self-calibration and visual slam with a multi-camera system on a micro aerial vehicle Auton. Robot., 39 (3) (2015), pp. 259-277 CrossrefView in ScopusGoogle Scholar Huang et al., 2022 D. Huang, M. Elhashash, R. Qin Constrained bundle adjustment for structure from motion using uncalib...