Multimodal visual position recognition based on dynamic invariant perception

Original link: Open source soon! Multimodal visual position recognition based on dynamic invariant perception Title: multi modal visual place recognition in dynamics invariant perception space **From: * * School of automation, Southeast University **Author: * * Lin Wu, Teng Wang and Changyin Sun Link: https://doi.org/10.1109/LSP.2021.3123907 ...

Posted on Wed, 01 Dec 2021 00:04:23 -0500 by allex01

Visual SLAM lesson 14 learning notes -- Lesson 8 back end optimization

        The trajectory and map estimated by the front end (visual odometer) are inaccurate for a long time due to the cumulative error. Therefore, we hope to build a larger-scale optimization problem for the overall situation to obtain the optimal trajectory and map. There are two main solutions: (1) Kalman filter based ...

Posted on Thu, 25 Nov 2021 22:34:11 -0500 by phuggett

One hour makes you become a point cloud map player (fixed frame selection key frame method)

Creation time: November 1, 2021 abstract Nowadays, with the rapid development of science and technology, many fields, whether driverless or virtual reality, need to build maps and develop them on this basis. Maps are mainly divided into sparse map, dense map and semantic map. They have different advantages, disadvantages and applicatio ...

Posted on Sun, 21 Nov 2021 01:02:17 -0500 by phpPunk

Ubuntu 18.04 running vins mono with D435i

Operating environment Linux: Ubuntu18.04ros: Melodic 1. Create a new ROS project directory folder mkdir catkin_ws cd catkin_ws mkdir src catkin_make 2. In the src folder, download and install the source code function package related to vins mono and compile it https://github.com/intel-ros/realsense.git : SDK 2.0 development kit ...

Posted on Wed, 10 Nov 2021 06:59:23 -0500 by msing

ceres example application of various forms of ICP problems

ceres example application of various forms of ICP problems ICP method mainly solves the problem of 3D-3D motion estimation of spatial point cloud, Known: t 1 t_1 t1 ÷ and ...

Posted on Fri, 05 Nov 2021 02:16:49 -0400 by fleabel

ZED2 camera operating environment construction (Ubuntu 20.04 + nvidia-470 drive + CUDA-11.4)

I. installation of calibration tool 1 install Kalibr Calibration of ZED2 binocular camera using kalibr tool 1) Install dependencies sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-melodic-vision-opencv ros-melodic-image-transport-plugins ros-melodic-cmake-modules softw ...

Posted on Thu, 04 Nov 2021 17:53:58 -0400 by naboth_abaho

About running DynaSLAM source code (OpenCV3.x version)

OK, here comes another source code operation record ←← 1, Basic environment According to the author's source code Readme file, python 2.7 must be available. Later, I installed tensorflow in a virtual environment established by Anaconda. This record is for the version of OpenCV 3.x! For the revision of version 3.x, the fourth point ...

Posted on Mon, 01 Nov 2021 12:40:42 -0400 by activomate

Run through ORB-SLAM2 with opencv4.5.2 + melody + USB binocular camera

Run through ORB-SLAM2 with opencv4.5.2 + melody + USB binocular camera preface Getting started with SLAM requires basic hardware such as depth camera and lidar, but considering their own economic strength, they start with the following camera. The specific length of this camera is like this. I bought it on Taobao for 35 yuan to prac ...

Posted on Sun, 24 Oct 2021 03:56:15 -0400 by XxDeadmanxX

GCNv2 + VS2017 Deployment Guide

Deployment environment   Windows 10   VS 2017   libtorch 1.7 + cu101 Step 1 configure libtorch Library Version selection     when using torch::jit::load to load the model in C + +, it is required that the Pytorch version based on which the. pt model is generated is the same as the libtorch version in the environment, or at l ...

Posted on Sun, 24 Oct 2021 03:53:37 -0400 by mw-dnb

ORB_SLAM2 source code analysis feature matching

catalogue 1, Feature matching in monocular initialization SearchForInitialization 2, TrackwithModel  TrackReferenceKeyFrame 3, Word bag introduction BoW 1. Intuitive understanding of word bag 2. Basic idea of word bag 3. From dictionary structure to k-d tree K-means clustering 4. Similarity calculation TF-IDF 5. Summary word bag mod ...

Posted on Tue, 19 Oct 2021 16:55:35 -0400 by lentin64