Point feature and line featureIt is a big challenge for autonomous robots to estimate state efficiently and generate high-precision 3D maps under low texture indoor scenes. This paper proposes a visual-inertial
论文阅读:Robust Visual SLAM with Point and Line Features 本文提出了使用异构点线特征的slam系统,继承了ORB-SLAM,包括双目匹配、帧追踪、局部地图、回环检测以及基于点线的BA。使用最少的参数对线特征采用标准正交表示,推导了线特征重投影误差的雅克比矩阵,改进了实验结果。因为使用线特征能够提供更多的几何约束,传统...
这一般在传统的SLAM中叫做data association]ReFindInSingleKeyFrame[将更多的map points投影到keyframe并匹配,加入成功的observation,即data association]ThinCornerCandidates[由于tracking线程计算量限制,只能用较快的FAST corner detector,所以在mapping线程
PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Point and Line. @misc{fu2020plvins, title={PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Point and Line Features}, author={Qiang Fu and Jialong Wang and Hongshan Yu and Islam Ali and Feng Guo and Yijia He and Hong Zhang}...
摘要:利用线特征来提高基于点的视觉惯性 SLAM (VINS) 的定位精度变得越来越重要,因为它们提供了对场景结构规律性的额外约束,然而,实时性能并未得到关注。本文介绍了 PL-VINS,一种基于点和线的实时优化单目 VINS 方法,基于最先进的基于点的 VINS-Mono [1] 开发。观察当前的工作使用 LSD [2] 算法来提取线条,然而...
Aiming at the problem of poor autonomous adaptability of mobile robots to dynamic environments, this paper propose a YOLACT++ based semantic visual SLAM for autonomous adaptation to dynamic environments of mobile robots. First, a light-weight YOLACT++ is utilized to detect and segment potential dyna...
Real-Time Visual-Inertial SLAM with Point-Line Feature using Improved EDLines Algorithm 本文中的创新点为在于直线特征信息的获取,提出了一种EDLines的方法,该方法与传统的LSD方案相比速度更快、效率更高。 EDDLines的主要实现步骤包括: 通过梯度信息获取有效的锚点,即梯度信息足够的像素点; 将相邻的锚... ...
提出了一种基于点线融合和平行线融合的实时单目视觉惯性SLAM。为了融合点和线,我们定义了PLC特性和PLC残差。此外,我们还提出了一种在多视图框架中使用基于VP的线簇对平行线进行分组的方法。此外,还提出了平行线的平行三维线残差。在滑动窗口优化中,我们将提出的PLC残差和平行3D线残差相结合,实现了高精度。使用公共Eu...
{ORB-LINE-SLAM: An Open-Source Stereo Visual SLAM System with Point and Line Features}", year = "2022", month = "12", url = "https://www.techrxiv.org/articles/preprint/ORB-LINE-SLAM_An_Open-Source_Stereo_Visual_SLAM_System_with_Point_and_Line_Features/21691949", doi = "10.36227/...
PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Point and Line. @misc{fu2020plvins, title={PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Point and Line Features}, author={Qiang Fu and Jialong Wang and Hongshan Yu and Islam Ali and Feng Guo and Yijia He and Hong Zhang}...