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cs:slam:start [2019/05/01 15:19] Steve Hemm [Map] |
cs:slam:start [2019/08/18 16:20] 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 ==== | ==== 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. | ||
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| ==== Local Mapping ==== | ==== Local Mapping ==== | ||
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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 ==== | ||
