Loop closureTightly coupledVisual 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...
相比之下,SLAM仅利用机器人自身的传感器来实现导航任务,无需任何附近的基站信号,这使得SLAM技术成为室内定位和导航的重要组成部分。 SLAM可分为基于光探测与测距(LiDAR)的和基于视觉的,随着计算机视觉的发展,视觉SLAM因其信息量大而备受关注,是当前研究领域的热点和广泛的应用。同时,基于激光雷达的SLAM是最稳定的主流SL...
Abstract 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...
类似的,在文献【20】中,作者提出一种双目立体视觉-惯性的激光SLAM,其结合了带有激光雷达建图以及激光雷达增强后的视觉闭环(LiDAR enhanced visual loop closure)的紧耦合的双目视觉-惯性里程计。最近,Wang等人提出DV-LOAM,是一种直接法的视觉-激光雷达融合框架。系统首先利用一个二阶段的直接法视觉里程计模块来进行...
google cartographer的论文《real-time loop closure in 2D LIDAR SLAM》翻译 能不能得出点啥来。摘要便携式激光测距仪(也就是LIDAR)以及实时定位和绘图(slam)都是比较有效的一种建立平面图的方法。实时生成和绘制平面图能很好的评估捕获的数据的质量。因此建立一个在有限的资源下...就是对scan点集的优化。平台采用...
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: • 我们利用激光雷达、惯性和相机...
Direct visual SLAMCamera-LiDARSparse depthThis 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...
Combined with data association, SLAM solutions can perform loop closure to reduce the uncertainties of every pose of the map as every landmark in the loop appears to be correlated [4]. SLAM is an estimation problem. We want to estimate both a variable 𝐗X that includes the robot ...
A LiDAR/Visual SLAM Backend with Loop Closure Detection and Graph Optimization. Remote Sens. 2021, 13, 2720. [Google Scholar] [CrossRef] Lin, J.; Zheng, C.; Xu, W.; Zhang, F. R2LIVE: A Robust, Real-Time, LiDAR-Inertial-Visual Tightly-Coupled State Estimator and Mapping. [DB/OL]....
SLAMDistributed as an open‐source library since 2013, real‐time appearance‐based mapping (RTAB‐Map) started as an appearance‐based loop closure detection approach with memory management to deal with large‐scale and long‐term online operation. It then grew to implement simultaneous localization ...