克服己身,叫身服我
几种关键帧选择方案 几种关键帧选择方案
几种关键帧选择方案ORB-SLAM插入关键帧的条件即是必须满足条件1以及满足2.1-2.3中任意一个条件。 必须满足的条件: 1. 内点数必须超过设定的最小阈值,并且重叠度不能太大; 原因:保证关键帧跟踪的质量,同时,避免引入过多的信息冗余
2023-03-25
视觉里程计总结 视觉里程计总结
视觉里程计总结任务目标《视觉SLAM十四讲》里面介绍到视觉里程计的任务是: 估算相邻图像间相机的运动 估计局部地图 基本方法视觉里程计常用的方法是特征点法、光流法、直接法。 笔者认为这几种方法最根本的区别在误差函数上,所以这里不再从最最
2023-03-24
论文阅读《DENSE RGB SLAM WITH NEURAL IMPLICIT MAPS》 论文阅读《DENSE RGB SLAM WITH NEURAL IMPLICIT MAPS》
论文阅读《DENSE RGB SLAM WITH NEURAL IMPLICIT MAPS》本论文提出了一种具有神经隐式映射表示的稠密RGB SLAM。该方案不需要深度输入,并且不需要任何预训练模型。为了实现这一目标,本文引入了一个分层的特
2023-03-19
论文阅读《ORB-SLAM2:an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras》 论文阅读《ORB-SLAM2:an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras》
论文阅读《ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras》本文提出了ORB-SLAM2,它是基于单目、双目或RGB-D相机的一个完整
2023-03-07
论文阅读《Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understanding》 论文阅读《Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understanding》
Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understanding回顾iMAP 这篇工作很大部分都基于iMAP,去年暑假我翻译了这篇论文 使用隐式神经场
2023-03-06
CS231A Lecture 9:Fitting and Matching CS231A Lecture 9:Fitting and Matching
CS231A Lecture 9:Fitting and Matching lecture 9 也没什么内容,不过还是好好记一下,霍夫变换之前不太了解。。。 Reading: [HZ] Chapter: 4 “Estimation –
2022-11-23
CS231A Lecture 7:Multi-view geometry (2) CS231A Lecture 7:Multi-view geometry (2)
CS231A Lecture 7:Multi-view geometry (2) Reading: [HZ] Chapter 10 “3D reconstruction of cameras and structure” [HZ] Cha
2022-11-21
CS231A Lecture 7:Multi-view geometry (1) CS231A Lecture 7:Multi-view geometry (1)
CS231A Lecture 7:Multi-view geometry (1) Reading: [HZ] Chapter 10 “3D reconstruction of cameras and structure” [HZ] Cha
2022-11-12
CS231A Lecture 6:Stereo Systems CS231A Lecture 6:Stereo Systems
CS231A Lecture 6:Stereo Systems Reading: [HZ] Chapter: 9 “Epip. Geom. and the Fundam. Matrix Transf.” [HZ] Chapter: 18
2022-11-05
CS231A Lecture 5:Epipolar Geometry CS231A Lecture 5:Epipolar Geometry
CS231A Lecture 5:Epipolar Geometry Reading: [HZ] Chapter: 4 “Estimation – 2D perspective transformations [HZ] Chapter:
2022-11-01
CS231A Lecture 4:Single View Metrology CS231A Lecture 4:Single View Metrology
CS231A Lecture 4:Single View Metrology Reading: [HZ] Chapter 2 “Projective Geometry and Transformation in 2D” [HZ] Chapt
2022-10-28
CS231A Lecture 3:Camera Calibration CS231A Lecture 3:Camera Calibration
CS231A Lecture 3:Camera Calibration Reading: [FP] Chapter 1 “Geometric Camera Calibration” [HZ] Chapter 7 “Computation
2022-10-14
2 / 7