ORB-SLAM: a Versatile and Accurate Monocular SLAM System
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Cites background from "ORB-SLAM: a Versatile and Accurate ..."
...They allow to build accurate and robust SLAM systems with automatic relocation and loop closing [179]....
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...Left: feature-based map of a room produced by ORB-SLAM [179]....
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..., lines, corners) [179]; one example is shown in...
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875 citations
Cites background or methods from "ORB-SLAM: a Versatile and Accurate ..."
...1) Vision-only MAP Estimation: We initialize pure monocular SLAM [2] and run it during 2 seconds, inserting keyframes at 4Hz....
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...The qualitative accuracy and robustness ratings included in the table are based, for modern systems, on the comparisons reported in section VII, and for classical systems, on previous comparisons in the literature [2], [52]....
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...• Pure monocular SLAM can provide very accurate initial maps [2], whose main problem is that scale is unknown....
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...Building on [2]–[4], we have presented ORB-SLAM3, the most complete open-source library for visual, visual-inertial and multi-session SLAM, with monocular, stereo, RGB-D, pin-hole and fisheye cameras....
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...In this work we build on ORB-SLAM [2], [3] and ORB-...
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References
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"ORB-SLAM: a Versatile and Accurate ..." refers methods in this paper
...Index Terms—Lifelong Mapping, Localization, Monocular Vision, Recognition, SLAM I. INTRODUCTION BUNDLE ADJUSTMENT (BA) is known to be the opti-mal method to estimate camera localization and a sparse geometrical reconstruction of a scene from a set of images [1], [2]....
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...We demonstrated the high recall and robustness of the recognizer in four different datasets, requiring less than 39 ms (including feature extraction) to retrieve a loop candidate from a 10K image database....
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"ORB-SLAM: a Versatile and Accurate ..." refers background or methods in this paper
...We then discuss map initialization approaches for Monocular SLAM and end with a review of Monocular SLAM systems....
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...Strasdat et. al [28] demonstrated that keyframe-based techniques are more accurate than filtering for the same computational cost....
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...• A survival of the fittest approach to map point and keyframe selection that is little conservative in the spawning but very restrictive in the culling....
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7,153 citations