Visual Trajectory Based SLAM
نویسندگان
چکیده
منابع مشابه
Towards a benchmark for RGB-D SLAM evaluation
We provide a large dataset containing RGB-D image sequences and the ground-truth camera trajectories with the goal to establish a benchmark for the evaluation of visual SLAM systems. Our dataset contains the color and depth images of a Microsoft Kinect sensor and the groundtruth trajectory of camera poses. The data was recorded at full frame rate (30 Hz) and sensor resolution (640x480). The gro...
متن کاملTrajectory-based Comparison of SLAM Algorithms
In this paper, we address the problem of creating an objective benchmark for comparing SLAM approaches. We propose a framework for analyzing the results of SLAM approaches based on a metric for measuring the error of the corrected trajectory. The metric uses only relative relations between poses and does not rely on a global reference frame. The idea is related to graph-based SLAM approaches, n...
متن کاملNext-Best-View Visual SLAM for Bounded-Error Area Coverage
Navigating an unexplored environment using simultaneous localization and mapping (SLAM) requires that the robot’s trajectory include revisit actions in order to produce loop-closure constraints; however, efficient area coverage requires that the robot’s trajectory be minimally redundant in its path. This paper reports on a next-best-view SLAM algorithm that balances the trade-off between explor...
متن کاملCAT-SLAM: probabilistic localisation and mapping using a continuous appearance-based trajectory
This paper describes a new system, dubbed Continuous Appearance-based Trajectory SLAM (CAT-SLAM), which augments sequential appearance-based place recognition with local metric pose filtering to improve the frequency and reliability of appearance based loop closure. As in other approaches to appearance-based mapping, loop closure is performed without calculating global feature geometry or perfo...
متن کاملAdaptive Monocular Visual–Inertial SLAM for Real-Time Augmented Reality Applications in Mobile Devices
Simultaneous localization and mapping (SLAM) is emerging as a prominent issue in computer vision and next-generation core technology for robots, autonomous navigation and augmented reality. In augmented reality applications, fast camera pose estimation and true scale are important. In this paper, we present an adaptive monocular visual-inertial SLAM method for real-time augmented reality applic...
متن کامل