A real-time semantic visual SLAM approach with points and objects
نویسندگان
چکیده
منابع مشابه
RT-SLAM: A Generic and Real-Time Visual SLAM Implementation
This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an original object oriented architecture, that allows the combination of numerous sensors and landmark types, and the integration of various approaches proposed in the literature. The system capacities are illustrated by the p...
متن کاملReal-time Stereo Visual SLAM
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 ...
متن کاملReal-time hierarchical stereo Visual SLAM in large-scale environments
In this paper we present a new real-time hierarchical (topological/metric) Visual SLAM system focusing on the localization of a vehicle in large-scale outdoor urban environments. It is exclusively based on the visual information provided by a cheap wide-angle stereo camera. Our approach divides the whole map into local sub-maps identified by the so-called fingerprints (vehicle poses). At the su...
متن کاملTowards robust data association in real-time visual SLAM
Recent years have seen the emergence of systems capable of tracking in real-time the 6-D pose of a moving camera whilst simultaneously building a structural map of the surrounding environment. Such vision based simultaneous localisation and mapping (SLAM) systems have huge potential in terms of providing low cost and flexible 3-D location sensing, capable of operating with agile hand held devic...
متن کاملAppearance Based Indexing for Relocalisation in Real-Time Visual SLAM
Previous work on visual SLAM has shown that indexing on space and scale facilitates the use of feature descriptors for matching in real-time systems and that this can significantly increase robustness. However, the performance gains necessarily diminish as uncertainty about camera position increases. In this paper we address this issue by introducing a further level of indexing based on appeara...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2020
ISSN: 1729-8814,1729-8814
DOI: 10.1177/1729881420905443