User Tools
Differences
This shows you the differences between two versions of the page.
| Both sides previous revision Previous revision Next revision | Previous revision Last revision Both sides next revision | ||
|
cs:slam:start [2019/05/01 15:11] Steve Hemm [Loop Closing] |
cs:slam:start [2019/08/18 16:20] Steve Hemm [Tracking] |
||
|---|---|---|---|
| Line 1: | Line 1: | ||
| - | ====== SLAM (Page still under construction) ====== | + | ====== SLAM ====== |
| ====== Simultaneous Localization and Mapping ====== | ====== Simultaneous Localization and Mapping ====== | ||
| Line 51: | Line 51: | ||
| ==== Tracking ==== | ==== Tracking ==== | ||
| - | -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. | ||
| -If localization is lost, uses Place Recognition module to relocate. | -If localization is lost, uses Place Recognition module to relocate. | ||
| + | |||
| + | |||
| + | |||
| ==== Local Mapping ==== | ==== Local Mapping ==== | ||
| Line 79: | Line 82: | ||
| -Fuse map points and preform bundle adjustment. | -Fuse map points and preform bundle adjustment. | ||
| ==== Map ==== | ==== Map ==== | ||
| + | |||
| + | Each map point stores: | ||
| + | *Its 3D position in the world coordinate system. | ||
| + | |||
| + | *ORB descriptor. | ||
| + | |||
| + | *The maximum dmax and minimum dmin distances at which the point can be observed, according to the scale invariance limits of the ORB features. | ||
| ==== Place Recognition ==== | ==== Place Recognition ==== | ||
