A 2-D LiDAR-SLAM Algorithm for Indoor Similar Environment With Deep Visual Loop Closure 摘要:同步定位与建图(SLAM)是实现机器人智能的关键技术。与摄像头相比,在室内环境下使用光探测和测距(LiDAR)可以实现更高的精度和稳定性。然而,LiDAR只能获取环境的几何结构信息,而带有环路检测的LiDAR SLAM在几何结构信息缺...
Visual lidar odometrySimultaneous localization and mapping (SLAM) is a fundamental requirement for mobile robots like self-driving cars. Vision-based methods have advantages in sensor cost and loop closure detection, but are sensitive to illumination change and texture deficiency. Lidar-based SLAM ...
Vision-based methods have advantages in sensor cost and loop closure detection, but are sensitive to illumination change and texture deficiency. Lidar-based SLAM systems perform better in accuracy, field-of-view and robustness to environmental changes, but may easily fail in structure-less scenarios....
This paper presents a framework for direct visual-LiDAR SLAM that combines the sparse depth measurement of light detection and ranging (LiDAR) with a monocular camera. The exploitation of the depth measurement between two sensor modalities has been reported in the literature but mostly by a keyfram...
E. 运行时分析 Run time analysis 7. R3LIVE的应用 Applications with RLIVE A. 网格重建和纹理映射 Mesh reconstruction and texturing B. 面向各种3D应用程序 Towards various of 3D applications 【论文信息】 @article{lin2021r3live, title={R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visu...
4、Lidar Visual odometry or Lidar SLAM 5、Semanitc SLAM 6、Datasets 7、Libraries OF-VO:Robust and Efficient Stereo Visual Odometry Using Points and Feature Optical Flow Code:https://github.com/MichaelBeechan/MyStereoLibviso2 Paper:14 Lectures on Visual SLAM: From Theory to Practice, ...
2、Visual Inertial Odometry or VIO-SLAM 3、Based CNN(Net VO or Net VSLAM) 4、Lidar Visual odometry or Lidar SLAM 5、Semanitc SLAM 6、Datasets 7、Libraries OF-VO:Robust and Efficient Stereo Visual Odometry Using Points and Feature Optical Flow ...
VIL-SLAM accomplishes this by incorporating tightly-coupled stereo visual inertial odometry (VIO) with LiDAR mapping and LiDAR enhanced visual loop closure. The system generates loop-closure corrected 6-DOF LiDAR poses in real-time and 1cm voxel dense maps near real-time. VIL-SLAM demonstrates ...
然而,基于LiDAR的SLAM方法在那些可用几何特征很少的场景中很容易失败(即退化),这对于那些FoV较小的LiDAR更为关键[9]。在这项工作中,为了解决基于激光雷达的里程计的退化问题,我们提出了一种激光雷达惯性视觉融合框架,以获得更高鲁棒性和准确性的状态估计。我们工作的主要贡献是:...
(matched_2d_cur_norm,status);reduceVector(matched_2d_old_norm,status);reduceVector(matched_3d,status);reduceVector(matched_id,status);if((int)matched_2d_cur.size()>MIN_LOOP_NUM){status.clear();/// PnP+RANSAC筛选内点,即用某个位姿重投影误差较小的关键点PnPRANSAC(matched_2d_old_norm,ma...