WebThis work proposes a novel keyframe selection strategy based on image quality and semantic information, which boosts strategies currently used in Visual-SLAM (V-SLAM). … WebMar 30, 2024 · The selected static semantic keyframes contain more static information, which can provide more static map points for the SLAM system and reduce the proportion of dynamic points. In order to improve the running speed of the whole system, we take a lightweight semantic segmentation model.
A Tutorial: Mobile Robotics, SLAM, Bayesian Filter, Keyframe …
WebDec 25, 2024 · The selection of key frames is similar to DSO [2], based on camera motions. Fig. 4 A DL-based VO/V-SLAM platform with key frame selection For some scenarios, loop closures frequently... WebORB-SLAM is a keyframe and feature-based Monocular SLAM. It operates in real-time in large environments, being able to close loops and perform camera relocalisation from very different viewpoints. ... It includes an automatic and robust initialization from planar and non-planar scenes. A novel survival of the fittest keyframe selection allows ... static line anchor points
VIO SLAM - zlthinker.github.io
WebThis work proposes a novel keyframe selection strategy based on image quality and semantic information, which boosts strategies currently used in Visual-SLAM (V-SLAM). Commonly used V-SLAM methods select keyframes based only on relative displacements and amount of tracked feature points. WebReal-Time Visual–Inertial SLAM Based on Adaptive Keyframe Selection for Mobile AR Applications Abstract: Simultaneous localization and mapping (SLAM) technology is used in many applications, such as augmented reality (AR)/virtual reality, robots, drones, and self-driving vehicles. WebMay 9, 2024 · Automatic keyframe selection is a problem encountered in many offline and real-time computer vision tasks, including camera pose estimation and 3D reconstruction with simultaneous localisation and mapping (SLAM) [3, 4] or visual odometry . The selected keyframes must cover the visible space but not be redundant. static linked list c