下图是StructureSLAM框架,在前端,编码器-解码器网络预测密集的表面法线,同时从RGB图像中提取点和线特征.在后端,首先使用法线和直线形式的场景结构来估计摄像机的全局旋转.然后,使用点和线特征获得用于平移的剩余3个自由度.使用局部地图校正初始姿态估计,关键帧是根据点特征和线特征来选择的. 4曼哈顿世界 在传统的基于...
结果显示对于大多数对象,3D约束的引入提高了3D 对象 IoU 性能,并且检测到的3D IoU比CubeSLAM方法更高 2.点-面-对象SLAM系统 作者认为改进来自两个方面:(1)具有主导方向的平面检测有助于更好的姿态估计,因为点SLAM到点面SLAM有明显改进(2) 严格的异常值剔除方法确保了稳健的数据关联,不同地标之间的约束得到了可...
Structure-SLAM(PL)是根据发行的。对于出于商业目的的Structure-SLAM(PL)的闭源版本,请通过tum.de与我联系yanyan.li 2.先决条件 我们已经在Ubuntu 16.04中测试了该库,但是应该可以轻松在其他平台上进行编译。功能强大的计算机(例如i7)将确保实时性能并提供更稳定和准确的结果。
While visual SLAM systems often use geometry features, the reconstructed maps lack semantic information. On the other hand, current object detection methods provide rich information about the scene from the image. In this paper, we present a structure SLAM system with feature points, geometry planes...
SLAM: Structure From Motion-移动中三维场景重建 wiki链接:https://en.wikipedia.org/wiki/Structure_from_motion 三维重建: 三维物体建模总结 1. 视野内三维物体重建 : Kinect fusion: 手持扫描仪-3D scanner: 异同之处: 视野内小型物体的重建,不需要标定世界坐标系,可以使用纯粹特征匹配的方法,重建整个表面。只...
We propose a novel 6-degree-of-freedom (DoF) visual simultaneous localization and mapping (SLAM) method based on the structural regularity of man-made building environments. The idea is that we use the building structure lines as features for localization and mapping. Unlike other line features,...
and use them to help improve the SLAM result. Planes can be tracked longer than individual feature points, especially in visual exploration tasks, as shown in Fig.1. Even if there is no co-visible feature point, the structure still provides the constraint to all frames seeing it. By employi...
The structure-plp-slam code is based on a relatively old version of OpenVSLAM (from early 2021 I think). You should be able to find everything you need in this documentation: https://stella-cv.readthedocs.io/en/0.3.9/example.html
future exploration on structure-guided PTM identification, source code and the online service of SLAM can be accessed athttps://ai4bio.online/SLAMandhttps://github.com/Gabriel-QIN/SLAM, respectively. Taken together, we hope our study could accelerate the practical applications for functional ...
Structure-Aware SLAM with Planes in Man-Made Environment Jiyuan Zhang(B), Gang Zeng, and Hongbin Zha Key Laboratory on Machine Perception, Peking University, Room 2207, Science Building No. 2, Beijing 100871, China {zhangjiyuan.eecs,zeng}@pku.edu.cn, zha@cis.pku.edu.cn Abstract. We ...