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cs:slam:start [2019/05/05 19:41] Steve Hemm |
cs:slam:start [2019/08/18 16:20] Steve Hemm [Tracking] |
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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 ==== | ||