RGB-D CAMERA BASED SLAM SYSTEM AND METHOD THEREOF

RGB-D CAMERA BASED SLAM SYSTEM AND METHOD THEREOF

A visual SLAM system comprises a plurality of keyframes including a keyframe, a current keyframe, and a previous keyframe, a dual dense visual odometry configured to provide a pairwise transformation estimate between two of the plurality of keyframes, a frame generator configured to create keyframe...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: REN, Liu, YAN, Zhixin, BABU, Benzun Pious Wisely, KIM, Soohwan
Format: Patent
Sprache:eng ; fre ; ger
Schlagworte:
CALCULATING
COMPUTING
COUNTING
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
PHYSICS
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Beschreibung
Zusammenfassung:A visual SLAM system comprises a plurality of keyframes including a keyframe, a current keyframe, and a previous keyframe, a dual dense visual odometry configured to provide a pairwise transformation estimate between two of the plurality of keyframes, a frame generator configured to create keyframe graph, a loop constraint evaluator adds a constraint to the receiving keyframe graph, and a graph optimizer configured to produce a map with trajectory.