DSO is quite sensitive to geometric distortion as those induces by fast motion and rolling shutter. While techniques for calibrating rolling shutter exist for direct SLAM algorithm, these are often quite involved andfar from real-time capable. Contribution: A stereo version of DSO. detail the propo...
Large-scale direct SLAM with stereo cameras,J. Engel, J. Stückler, D. Cremers, IROS, 2015 1. Installation Please followhttps://github.com/JakobEngel/dso. 2. Usage Seehttps://github.com/JakobEngel/dsofor how to run on a dataset. Run on a dataset fromhttp://www.cvlibs.net/datasets...
Stereo DSO(Semi-Direct Visual Odometry with Stereo Cameras)是一种基于双目相机的半直接视觉里程计算法。该算法能够实时估计相机在三维空间中的运动,并且具有较高的精度和鲁棒性。 Stereo DSO利用了双目相机的深度信息和特征点的亮度残差来进行视觉里程计估计。首先,通过对立体图像进行特征提取和匹配,得到一组稠密的...
高斯牛顿是非线性最小二乘的一种优化算法,采用逐步迭代的方法,把非线性问题变成一步一步迭代的线性问题,从而达到极值收敛。在第二讲我会以加速度计的校准为例子,进行高斯牛顿的实际应用讲解。好吧,我们第二讲见。 DSO初探 深度值)的直接法模型,并在优化过程中用滑动窗口对旧的相机位姿以及离开相机视野的点进行边...
stereo_dso / LICENSE GNU General Public License v3.0 Permissions of this strong copyleft license are conditioned on making available complete source code of licensed works and modifications, which include larger works using a licensed work, under the same license. Copyright and license notices ...
green line: groundtruth, redline: VI-Stereo-DSO P.S. This project aims at verifying the location performance of VI-Stero-DSO. The computational efficiency is to be improved. Actually in current code, many preintergration operations are redundant and can be simplified. ...
The experimental results show that the binocular stereo panoramic vision positioning algorithm based on the extended DSO can directly obtain the panoramic depth image around the UGV, which greatly improves the accuracy and robustness of the visual positioning compared with other ordinary visual odometers...
//usr/lib/aarch64-linux-gnu/libgflags.so.2.2: error adding symbols: DSO missing from command line collect2: error: ld returned 1 exit status CMakeFiles/zed_openpose.dir/build.make:144: recipe for target ‘zed_openpose’ failed make[2]: *** [zed_openpose] Error 1 ...
Stereo DSO: Large-Scale Direct Sparse Visual Odometry with Stereo Cameras Abstract Optimization objectives: intrinsic/extrinsic parameters of all keyframes all selected pixels' depth Integrate constraints from static stereo (左右两个相机的立体视觉约束是静态的) into the bundle adjustment pipeline of temporal...
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