Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo CamerasLicense IssueNotice that this work is based on the original OpenVSLAM (renamed now as stella-vslam), which is a derivative work of ORB-SLAM2 without any modification...
"Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras". IEEE International Conference on Robotics and Automation (ICRA), 2023. (https://arxiv.org/abs/2207.06058) updated arXiv v3 with supplementary materials....
Code Edit peterfws/structure-plp-slam official 391 Tasks Edit Camera Localization Pose Tracking Datasets Edit TUM RGB-D Results from the Paper Edit Submit results from this paper to get state-of-the-art GitHub badges and help the community compare results to other papers. ...
所以此时,我们做SLAM的都知道是时候让BA上马了!BA能够同时优化相机位姿以及地图点,使模型的redundancy更强。这里顺便提一下BA,优化目标是通过调整相机位姿与地图点位置使重投影误差最小: E=\sum_{j} \rho_{j}\left(\left\|\pi\left(\mathbf{P}_{c}, \mathbf{X}_{k}\right)-\mathbf{x}_{j}\right...
BA优化:由于图像注册与三角化是分开进行的,但二者是强相关的两个过程:错误的位姿会导致错误的三角化点点产生,反之亦然。所以此时,我们做SLAM的都知道是时候让BA上马了!BA能够同时优化相机位姿以及地图点,使模型的redundancy更强。这里顺便提一下BA,优化目标是通过调整相机位姿与地图点位置使重投影误差最小: ...
BA优化:由于图像注册与三角化是分开进行的,但二者是强相关的两个过程:错误的位姿会导致错误的三角化点点产生,反之亦然。所以此时,我们做SLAM的都知道是时候让BA上马了!BA能够同时优化相机位姿以及地图点,使模型的redundancy更强。这里顺便提一下BA,优化目标是通过调整相机位姿与地图点位置使重投影误差最小: ...
BA优化:由于图像注册与三角化是分开进行的,但二者是强相关的两个过程:错误的位姿会导致错误的三角化点点产生,反之亦然。所以此时,我们做SLAM的都知道是时候让BA上马了!BA能够同时优化相机位姿以及地图点,使模型的redundancy更强。这里顺便提一下BA,优化目标是通过调整相机位姿与地图点位置使重投影误差最小: ...
技术标签:图像处理slam 去年,我有幸了解到image-based modeling的相关知识。作为一个大三本科生,虽说自己此前也做过一些相关工作,但是要自己实现Structure from motion,确实是费尽了我的脑袋壳儿(3个月)。 哦对,顺带宣传一下此前自己尝试过的一个相关的内容:Shap... ...
[ICRA'23] The official Implementation of "Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras" - PeterFWS/Structure-PLP-SLAM
skyjhyp11/Structure-PLP-SLAMPublic forked fromPeterFWS/Structure-PLP-SLAM NotificationsYou must be signed in to change notification settings Fork0 Star0 main 1Branch 0Tags Code This branch is up to date withPeterFWS/Structure-PLP-SLAM:main. ...