论文笔记_S2D.76_2013_IROS_DVO-SLAM_基于RGB-D相机的稠密视觉SLAM

http://www.iri.upc.edu/people/jsola/JoanSola/eng/toolbox.html EKF-SLAM TOOLBOX FOR MATLAB NEWS Upgrade 2012/04/22: Added support for Omni-directional cameras for ahmPnt and eucPnt points. From 2011/09/03 to 2011/09/08: a bug in the package released between these 5 days caused the toolbox to completely fail. Download the current version below. 2010/09/04: BUG FIX: Corrected bug in code for IDP. If you just want the bug fix, click here. Toolbox versions after 2011/09/08 are already fixed. INTRODUCTION This toolbox performs 6DOF SLAM using the classical EKF implementation. It is conceived as an "active-search" SLAM. It is provided for free under the GPL license (please read the file COPYING and make sure you agree in the terms and conditions before using it). Users employing the toolbox for scientific research should cite in their scientific communications one of the papers of the authors (especially SOLA-ETAL-IJCV-11, SOLA-ETAL-TRO-08) appearing in the References section of the documentation, and also acknowledging the use of this toolbox. • Download the 6DOF SLAM toolbox for Matlab. • Please email me with feedback, I will appreciate. • Read the pdf doc to have an idea. • Features: o Full 6DOF. o Points and lines, with many different parametrizations. Consult the IJCV'11 paper on landmark parametrization. o 3D graphics. o Works with any number of robots and sensors. o Monocular and stereo systems are treated alike. o Supports extrinsic self-calibration of multi-camera rigs as in our TRO'08 paper. • The toolbox supports undelayed initialization of the following landmark types: o ahmPnt : Anchored homogeneous points. See video. This parametrization performs equivalently to Inverse-depth points in filter consistency. o idpPnt : Inverse-Depth points, with conversion to Euclidean points (eucPnt) after confirming linearity. This follows Civera's TRO-08 paper on Inverse-depth parametrization. Seevideo. Also called Anchored Modified-polar points (AMPP) in SOLA-IJCV'11. o hmgPnt : Homogeneous points. See video. o fhmPnt : Framed Homogeneous points. We follow a work by Simone Ceriani et. al., 2011. o plkLin : Plucker lines as explained in our IROS-09 paper. See video. o aplLin : Anchored Plucker lines. See video. o idpLin : Inverse-depth points lines. See video. Also called Anchored Modified-polar points lines (AMPPL) in SOLA-IJCV'11. o hmgLin : Homogeneous-points lines. See video. o ahmLin : Anchored homogeneous-points lines. See video. o See this video that compares idpPnt against ahmPnt and hmgPnt points, showing the superior consistency of idpPnt and ahmPnt because of over-estimation of the covariance in hmgPnt.(note: in the video, hmgPnt is labeled HP, ahmPnt is AHP, and idpPnt is AMPP.) o See this video with all line parametrizations running in parallel. BUG FIXES BUG (fixed in toolbox releases after 2011/09/08): The Jacobians of the idpPnt initialization function were incorrect. This derived in a poor performance of idpPnt points. Now, idpPnt andahmPnt show equivalent performance. FIX: follow these simple steps: 1. Download this file. Unzip it. 2. Copy files idp2ahp.m and ahp2idp.m to toolbox folder %SLAMTB/Points/ 3. Copy file retroProjIdpPntFromPinHoleOnRob.m to toolbox folder %SLAMTB/Observations/ 4. Delete the obsolete bugged file %SLAMTB/Points/idpS2idpW.m from the toolbox.

VisualSLAM 基于视觉的导航项目 笔记： 请为您的工作创建一个功能分支，并仅将master分支用于有效的解决方案。 不允许将构建蝇，图像或可执行文件提交到存储库。 CMake用于构建项目 如何构建和运行代码： 为opencv Viz模块下载并安装VTK： : 如果您已经安装了OpenCV，则需要重新安装它，以便OpenCV可以找到新安装的VTK库（版权归 ） 注意：[..]表示可选的命令行参数 mkdir build cmake .. make ./slam ../data/left/ ../data/right/ ../data/calib.txt 10 [../data/groundTruth.txt] # # only 22 for visualization otherwise we can only see pose data ./slam ../data

3D-Visual-GPS-SLAM.zip,这是一篇关于视觉slam与gps融合的硕士论文研究报告。它包含了研究论文、代码和其他有趣的数据。,3D建模使用专门的软件来创建物理对象的数字模型。它是3D计算机图形的一个方面，用于视频游戏，3D打印和VR，以及其他应用程序。

李名杨-VisualInertialSLAMandCalibrationprobleminSLAM