Incremental Pose Map Optimization for Monocular Vision SLAM Based on Similarity Transformation
نویسندگان
چکیده
منابع مشابه
Integrating Monocular Vision and Odometry for SLAM
This paper presents an approach to Simultaneous Localization and Mapping (SLAM) based on monocular vision. Standard multiple-view vision techniques are used to estimate robot motion and scene structure, which are then integrated with minimal odometric information and used to build a global environment map. Preliminary experimental results are also presented and discussed. Key-Words: Robot local...
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The monocular visual-inertial system (VINS), which consists one camera and one low-cost inertial measurement unit (IMU), is a popular approach to achieve accurate 6-DOF state estimation. However, such locally accurate visualinertial odometry is prone to drift and cannot provide absolute pose estimation. Leveraging history information to relocalize and correct drift has become a hot topic. In th...
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Simultaneous Localization and Mapping (SLAM) from a monocular camera has been a well researched area. However, estimating camera pose and 3d geometry reliably for egocentric videos still remain a challenge [25, 40, 42]. Some of the common causes of failures are dominant 3D rotations and low parallax between successive frames, resulting in unreliable pose and 3d estimates. For forward moving cam...
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In the last years, the Monocular SLAM problem was widely studied, to allow the simultaneous reconstruction of the environment and the localization of the observer, by using a single camera. As for other SLAM problems, a frequently used feature for the representation of the world, is the 3D point. Differently from other SLAM problems, because of the perspective model of the camera, in Monocular ...
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The pose graph is a central data structure in graph-based SLAM approaches. It encodes the poses of the robot during data acquisition as well as spatial constraints between them. The size of the pose graph has a direct influence on the runtime and the memory requirements of a SLAM system since it is typically used to make data associations and within the optimization procedure. In this paper, we...
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ژورنال
عنوان ژورنال: Sensors
سال: 2019
ISSN: 1424-8220
DOI: 10.3390/s19224945