实例介绍
【实例简介】
苏黎世大牛写的
What is visual Odometry(VO)? vo is the process of incrementally estimating the pose of the vehicle by examining the changes that motion induces on the images of its onboard cameras ====-====山===-=2= 画画画 R0,R1,…,R2 Ⅲ;「 0,t1,…,t Assumptions Sufficient illumination in the environment Dominance of static scene over moving objects Enough texture to allow apparent motion to be extracted Sufficient scene overlap between consecutive frames Why vo? Contrary to wheel odometry, vo is not affected by wheel slip in uneven terrain or other adverse conditions More accurate trajectory estimates compared to wheel odometry (relative position error 0./0) vo can be used as a complement to wheel odometry GPS inertial measurement units(IMUs RTK GPS laser odometry Visual Odometry 10 sta 0 In gPs-denied environments 10 such as underwater and aerial 20 Vo has utmost importance 20 -40 y(m) 60 -40 60 x(m) 80 -80 Working Principle 电组出 R t VO Flow chart vo computes the camera path incrementally (pose after pose) k+1 k+1,k VO Drift The errors introduced by each new frame-to-frame motion accumulate over time k+l This generates a drift of the estimated trajectory from the real path k+Lk kk-I k-1 The uncertainty of the camera pose at CK is a combination of the uncertainty at Ck-1(black solid ellipse)and the uncertainty of the transformation Tk.k-1(gray dashed ellipse) VO or Structure from Motion(SFM)?(1 2) SFM is more general than vo and tackles the problem of 3d reconstruction of both the structure and camera poses from unordered image sets the final structure and camera poses are typically refined with an offline optimization (i. e bundle adjustment, whose computation time grows with the number of images Paper:“ Building rome in a day”,CCVo9 VO or Structure from Motion(SFM)?(2/2) > Vo is a particular case of sFm vo focuses on estimating the 3d motion of the camera sequentially(as a new frame arrives )and in real time Bundle adjustment can be used (but it's optional to refine the local estimate of the trajectory terminology sometimes SFM is used as a synonym of vo 【实例截图】
【核心代码】
苏黎世大牛写的
What is visual Odometry(VO)? vo is the process of incrementally estimating the pose of the vehicle by examining the changes that motion induces on the images of its onboard cameras ====-====山===-=2= 画画画 R0,R1,…,R2 Ⅲ;「 0,t1,…,t Assumptions Sufficient illumination in the environment Dominance of static scene over moving objects Enough texture to allow apparent motion to be extracted Sufficient scene overlap between consecutive frames Why vo? Contrary to wheel odometry, vo is not affected by wheel slip in uneven terrain or other adverse conditions More accurate trajectory estimates compared to wheel odometry (relative position error 0./0) vo can be used as a complement to wheel odometry GPS inertial measurement units(IMUs RTK GPS laser odometry Visual Odometry 10 sta 0 In gPs-denied environments 10 such as underwater and aerial 20 Vo has utmost importance 20 -40 y(m) 60 -40 60 x(m) 80 -80 Working Principle 电组出 R t VO Flow chart vo computes the camera path incrementally (pose after pose) k+1 k+1,k VO Drift The errors introduced by each new frame-to-frame motion accumulate over time k+l This generates a drift of the estimated trajectory from the real path k+Lk kk-I k-1 The uncertainty of the camera pose at CK is a combination of the uncertainty at Ck-1(black solid ellipse)and the uncertainty of the transformation Tk.k-1(gray dashed ellipse) VO or Structure from Motion(SFM)?(1 2) SFM is more general than vo and tackles the problem of 3d reconstruction of both the structure and camera poses from unordered image sets the final structure and camera poses are typically refined with an offline optimization (i. e bundle adjustment, whose computation time grows with the number of images Paper:“ Building rome in a day”,CCVo9 VO or Structure from Motion(SFM)?(2/2) > Vo is a particular case of sFm vo focuses on estimating the 3d motion of the camera sequentially(as a new frame arrives )and in real time Bundle adjustment can be used (but it's optional to refine the local estimate of the trajectory terminology sometimes SFM is used as a synonym of vo 【实例截图】
【核心代码】
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