Visual Simultaneous Localization and Mapping (vSLAM)

视觉大满贯地图初始化，跟踪，本地映射，循环检测和漂移校正

Visual simultaneous localization and mapping (vSLAM), refers to the process of calculating the position and orientation of a camera, with respect to its surroundings, while simultaneously mapping the environment. The process uses only visual inputs from the camera. Applications for visual SLAM include augmented reality, robotics, and autonomous driving. For more details, see在MATLAB中实施视觉大满贯.

Functions

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Detect, Extract, and Match Features

`检测表`	检测冲浪功能并返回`SURFPoints`object
`检测器`	Detect ORB keypoints and return an`Orbpoints`object
`extractFeatures`	提取兴趣点描述符
`matchFeatures`	Find matching features
`matchFeaturesInRadius`	Find matching features within specified radius

Reconstruct 3-D Structure

`三角剖分`	立体声图像中未发生匹配点的3-D位置
`worldToImage`	Project world points into image
`pointsToWorld`	确定图像点的世界坐标

Estimate Motion

`估计分析图2d`	Estimate 2-D geometric transformation from matching point pairs
`估计分析图3D`	Estimate 3-D geometric transformation from matching point pairs
`estimateFundamentalMatrix`	Estimate fundamental matrix from corresponding points in stereo images
`estimateWorldCameraPose`	Estimate camera pose from 3-D to 2-D point correspondences
`findWorldPointsInView`	Find world points observed in view
`findWorldPointsInTracks`	Find world points that correspond to point tracks
`Relativecamerapose`	计算相对旋转和相机姿势之间的翻译

Optimize Motion and 3-D Structure

`optimizePoses`	使用相对姿势约束优化绝对姿势
`createPoseGraph`	Create pose graph
`bundleAdjustment`	Adjust collection of 3-D points and camera poses
`bundleAdjustmentMotion`	Adjust collection of 3-D points and camera poses using motion-only bundle adjustment
`bundleAdjustmentStructure`	使用仅结构捆绑调整来完善3-D点

Visualize Results

`imshow`	Display image
`showMatchedFeatures`	Display corresponding feature points
`plot`	Plot view set views and connections
`plotCamera`	Plot a camera in 3-D coordinates
`PCSHOW`	Plot 3-D point cloud
`pcplayer`	Visualize streaming 3-D point cloud data

Manage Data

`imageviewset`	Manage data for structure-from-motion, visual odometry, and visual SLAM
`worldpointset`	Manage 3-D to 2-D point correspondences
`indexImages`	创建图像搜索索引
`invertedImageIndex`	搜索将视觉单词映射到图像的索引
`bogoffeatures`	Bag of visual words object

Topics

Stereo Visual Simultaneous Localization and Mapping
Process image data from a stereo camera to build a map of an outdoor environment and estimate the trajectory of the camera.
Visual Localization in a Parking Lot
Develop a visual localization system using synthetic image data from the Unreal Engine® simulation environment.
在3D模拟中进行无人机导航的立体视觉大满贯
Develop a visual SLAM algorithm for a UAV equipped with a stereo camera.
发展视觉算法使用Unreal Engine Simulation(Automated Driving Toolbox)
Develop a visual simultaneous localization and mapping (SLAM) algorithm using image data from the Unreal Engine^®simulation environment.
在MATLAB中实施视觉大满贯
Understand the visual simultaneous localization and mapping (vSLAM) workflow and how to implement it using MATLAB.
Choose SLAM Workflow Based on Sensor Data
Choose the right simultaneous localization and mapping (SLAM) workflow and find topics, examples, and supported features.

Featured Examples

Monocular Visual Simultaneous Localization and Mapping

Visual simultaneous localization and mapping (vSLAM).

打开实时脚本

Stereo Visual Simultaneous Localization and Mapping

Process image data from a stereo camera to build a map of an outdoor environment and estimate the trajectory of the camera.

打开实时脚本