Titlebook: Introduction to Visual SLAM; From Theory to Pract Xiang Gao,Tao Zhang Book 2021 Publishing House of Electronics Industry 2021 Simultaneous

设施

ASTER

Practice: Stereo Visual OdometryThis lecture is the concluding part of the book. We will use the knowledge we learned before to actually write a visual odometry program. You will manage local robot trajectories and landmarks and experience how a software framework is composed.

钢笔记下惩罚

Discussions and OutlookThe previous chapters introduce the widely used SLAM pipelines, which are the conclusion of decades of researches. At present, in addition to the theoretical frameworks, we can also find many excellent open-source SLAM solutions.

威胁你

3D Rigid Body Motion: How to describe a rigid body’s motion in three-dimensional space? Intuitively, we certainly know that this consists of one rotation plus one translation. The translation part does not really have any problems, but the rotation part is questionable. We will introduce the meaning of rotation matrice

健忘症

Trypsin

百灵鸟

Filters and Optimization Approaches: Part Iy and map. Still, due to the inevitable accumulation of errors, this map is inaccurate for a long time. Therefore, based on visual odometry, we also hope to construct a larger-scale optimization problem to consider the optimal trajectory and map over a long time. However, considering the balance of

ELUDE

Filters and Optimization Approaches: Part IIver, in a larger scene, the high dimensionality of landmarks will seriously reduce the calculation efficiency, resulting in an increasing amount of calculation that cannot be real-time. The first part of this lecture will introduce a simplified, yet widely used optimization approach: pose graph.

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