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 15:21] Steve Hemm [Map] |
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 81: | Line 84: | ||
Each map point stores: | Each map point stores: | ||
- | 1.Its 3D position in the world coordinate system. | + | *Its 3D position in the world coordinate system. |
- | 2.ORB descriptor. | + | *ORB descriptor. |
- | 3.The maximum dmax and minimum dmin distances at which the point can be observed, according to the scale invariance limits of the ORB features. | + | *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 ==== | ||