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cs:slam:start [2019/05/01 15:19] Steve Hemm [Map] |
cs:slam:start [2019/08/18 15:37] Steve Hemm [Tracking] |
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- | ====== SLAM (Page still under construction) ====== | + | ====== SLAM ====== |
====== Simultaneous Localization and Mapping ====== | ====== Simultaneous Localization and Mapping ====== | ||
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-Tracking localizes the camera by comparing features in a local map. | -Tracking localizes the camera by comparing features in a local map. | ||
- | -Detects features using the FAST algorithm. | + | -Detects features using the [[https://docs.opencv.org/3.0-beta/doc/py_tutorials/py_feature2d/py_fast/py_fast.html|FAST Algorithm]]. |
- | -Describes features using ORB algorithm. | + | -Describes features using [[https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_feature2d/py_orb/py_orb.html|ORB Algorithm]]. |
-Selects a new keyframe. | -Selects a new keyframe. | ||
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Each map point stores: | Each map point stores: | ||
- | -Its 3D position in the world coordinate system. | + | *Its 3D position in the world coordinate system. |
- | -ORB descriptor. | + | *ORB descriptor. |
- | -The maximum dmax and minimum dmin distances at | + | *The maximum dmax and minimum dmin distances at which the point can be observed, according to the scale invariance limits of the ORB features. |
- | which the point can be observed, according to the scale | + | |
- | invariance limits of the ORB features. | + | |
==== Place Recognition ==== | ==== Place Recognition ==== | ||