然而,基于点特征的算法在低纹理环境中不能很好地工作,因此[180]提出了基于ORB-SLAM2和LSD的PL-SLAM组合点和线特征,这可以保证在更广泛的场景中的鲁棒性能。[181]提出了一种立体视觉双四元数视觉SLAM框架,它使用贝叶斯框架进行姿态估计,对于地...
37.传统的视觉惯性同时定位与地图创建(slam)方法大多基于点特征检测和描述,然而在光照变化以及弱纹理的室内场景中,由于较难提取大量有效特征点使得定位精度大幅降低,纹理较差的视频和运动模糊等甚至会造成系统完全失效。 38.针对此,发明人在传统的slam方法中引入了线特征及惯性测量(imu)数据,在低纹理条件下,线特征检测...
https://github.com/maxee1900/RGBD-PL-SLAM 原版的PL-SLAM项目 https://github.com/HarborC/PL-SLAM 3.2 CMAKE 没啥问题,就还是用GUI生成一下 3.3 构建工程 首先要把原版的PL-SLAM项目中,src文件夹复制到RGBD的项目里,并把里面文件的名字改成.cpp 3.2.1 提示 -Wno-deprecated-declarations 不存在 在Cmake...
Line feature based RGBD SLAM, supporting fusion with point feature telerobot.cs.tamu.edu/MFG/rgbd/plvo Resources Readme License GPL-3.0 license Activity Stars 80 stars Watchers 7 watching Forks 42 forks Report repository Releases No releases published Packages No packages published ...
Comparing with other state-of-the-art algorithms, such as ORB-SLAM2, PL-VINS, VINS-RGBD, and so on, the proposed PLD-VINS is more exact, robust and reliable. (C) 2021 Elsevier Masson SAS. All rights reserved.doi:10.1016/j.ast.2021.107185Zhu, Yeqing...
electronics Article YG-SLAM: GPU-Accelerated RGBD-SLAM Using YOLOv5 in a Dynamic Environment Yating Yu 1 , Kai Zhu 2,* and Wangshui Yu 1 1 School of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213001, China; 2021655076@smail.jsut.edu.cn (Y.Y.); 2021655014@smail....