Feature-based visual odometry prior for real-time semi-dense stereo SLAM
نویسندگان
چکیده
منابع مشابه
Combining Feature-Based and Direct Methods for Semi-dense Real-Time Stereo Visual Odometry
Visual motion estimation is challenging, due to high data rates, fast camera motions, featureless or repetitive environments, uneven lighting, and many other issues. In this work, we propose a twolayer approach for visual odometry with stereo cameras, which runs in real-time and combines feature-based matching with semi-dense direct image alignment. Our method initializes semi-dense depth estim...
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Simultaneous localisation and mapping (SLAM) has been the focus of intensive research in the last decade due to the potential benefits it offers to the field of autonomous mobile robotics. SLAM is concerned with the ability of an autonomous vehicle to navigate through an unexplored environment and incrementally construct a map of the environment and localise itself within this map. This thesis ...
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Feature-based visual structure and motion reconstruction pipelines, common in visual odometry and large-scale reconstruction from photos, use the location of corresponding features in different images to determine the 3D structure of the scene, as well as the camera parameters associated with each image. The noise model, which defines the likelihood of the location of each feature in each image...
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ژورنال
عنوان ژورنال: Robotics and Autonomous Systems
سال: 2018
ISSN: 0921-8890
DOI: 10.1016/j.robot.2018.08.002