本文总结了特征点法slam中目前效果最好的方法：orb-slam2 / orb-slam3 相关改进代码汇总，包括加速、多传感器融合、稠密建图、线特征、点线融合、导航、动态环境、多平台移植等。. Oct 20, 2016 ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras Raul Mur-Artal, Juan D. Tardos We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities.
Localization Models- Nov 11, 2020 ORB-SLAM2 requires enough information about the environment to initialize, so you can manually move the robot around to avoid large changes in translation or orientation. After ORB-SLAM2 initialized it will start publishing octomap. You can use control to move your robot around.
- ORB-SLAM2 is a real-time SLAM library for Monocular, Stereo and RGB-D cameras that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale). It is able to detect loops and relocalize the camera in real time.
- May 17, 2020 ROS (Robotic Operating System1) has a variety of packages for all your robotics need and SLAM is no exception to that. For this post we are going to be looking at the orbslam2ros package which supports a lot of cameras out of the box (complete list). First, make sure you have ROS installed and setup (installation guide here).
ORB-SLAM2 is a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities. The system works in real-time on standard CPUs in a wide variety of environments from small hand-held indoors sequences, to drones flying in industrial environments and cars driving around a city.
Source: Mur-Artal and Tardos
Image source: Mur-Artal and Tardos
Source: ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D CamerasPapers
Orb Slam2 Desable Relocalization
Tasks
| Task | Papers | Share |
|---|---|---|
| Simultaneous Localization and Mapping | 5 | 21.74% |
| Visual Odometry | 3 | 13.04% |
| Semantic Segmentation | 2 | 8.70% |
| Autonomous Vehicles | 2 | 8.70% |
| Visual Localization | 2 | 8.70% |
| Instance Segmentation | 1 | 4.35% |
| Optical Flow Estimation | 1 | 4.35% |
| Monocular Visual Odometry | 1 | 4.35% |
| Visual Navigation | 1 | 4.35% |
Usage Over Time
This feature is experimental; we are continuously improving our matching algorithm.Components
| Component | Type |
|---|---|
| 🤖 No Components Found | You can add them if they exist; e.g. Mask R-CNN uses RoIAlign |