ORB-SLAM: A Versatile and Accurate Monocular SLAM System
نویسندگان
چکیده
منابع مشابه
LSD-SLAM: Large-Scale Direct Monocular SLAM
We propose a direct (feature-less) monocular SLAM algorithm which, in contrast to current state-of-the-art regarding direct methods, allows to build large-scale, consistent maps of the environment. Along with highly accurate pose estimation based on direct image alignment, the 3D environment is reconstructed in real-time as pose-graph of keyframes with associated semi-dense depth maps. These ar...
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In this paper, we cover the process of integrating Large-Scale Direct Simultaneous Localization and Mapping (LSD-SLAM) [1] algorithm into our existing AR stereo engine, developed for our modified ”Augmented Reality Oculus Rift”. With that, we are able to track one of our realworld cameras which are mounted on the rift, within a complete unknown environment. This makes it possible to achieve a c...
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It has recently been demonstrated that the fundamental computer vision problem of structure from motion with a single camera can be tackled using the sequential, probabilistic methodology of monocular SLAM (Simultaneous Localisation and Mapping). A key part of this approach is to use the priors available on camera motion and scene structure to aid robust real-time tracking and ultimately enable...
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Automating Monocular SLAM is challenging as routine trajectory planning frameworks tend to fail primarily due to the inherent tendency of Monocular SLAM systems to break down or deviate largely from their actual trajectory and map states. The reasons for such breakages or large deviations in trajectory estimates are manyfold, ranging from degeneracies associated with planar scenes, with large c...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2015
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2015.2463671