基于移动端的语义SLAM研究
The Research of Handheld Based Semantic SLAM
Abstract
视觉即时定位与地图构建(SimultaneousLocalizationandMapping)技术在计算机视觉和人工智能领域有很大的研究和应用需求,在机器人、增强现实、无人驾驶等领域有很大的应用价值。在视觉领域中,SLAM根据摄像头种类的不同,主要分为单目SLAM、双目SLAM和RGBDSLAM。双目SLAM和RGBDSLAM。 由于其深度信息较为容易获得,且匹配比较精确,因此近年来的SLAM研究大 多基于双目和RGBD摄像头,并且在点云稠密化和语义解析方面有了很大的进 展。而单目SLAM在图像信息获取方面具有明显劣势,需要更多的计算和优化, 更难获得比较精确的相机估计和稠密点云,基于... Simultaneous Localization and mapping is a very important technology in computer vision, and has great application value in the field of robotics and augmented reality. In computer vision field, according to the different types of camera, SLAM can be divided into monocular SLAM, binocular SLAM and RGBD SLAM. Binocular SLAM and RGBD SLAM have an easy way to get depth values of the scenes,...