METHOD AND APPARATUS FOR SIMULTANEOUS LOCALIZATION AND MAPPING, AND COMPUTER-READABLE STORAGE MEDIUM

METHOD AND APPARATUS FOR SIMULTANEOUS LOCALIZATION AND MAPPING, AND COMPUTER-READABLE STORAGE MEDIUM

Provided is a method of simultaneous localization and mapping (SLAM), the method including obtaining a structure of a current image frame, obtaining a structure re-identification constraint based on the structure of the current image frame, and obtaining a SLAM result based on the structure re-ident...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: LEE, Hongseok, LIU, Zhihua, WANG, Qiang, KIM, Yuntae, PENG, Xiongfeng
Format: Patent
Sprache:eng
Schlagworte:
CALCULATING
COMPUTING
COUNTING
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
PHYSICS
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Beschreibung
Zusammenfassung:Provided is a method of simultaneous localization and mapping (SLAM), the method including obtaining a structure of a current image frame, obtaining a structure re-identification constraint based on the structure of the current image frame, and obtaining a SLAM result based on the structure re-identification constraint. By introducing the structure re-identification constraint in a bundle adjustment process to obtain the SLAM result, error accumulation may be more easily controlled, and accuracy and robustness in obtaining the SLAM result may be improved.