主要内容

vSLAM

单目、立体、RGB-D 视觉同步定位与地图构建 (vSLAM) 以及视觉-惯性传感器融合

视觉同步定位与地图构建 (vSLAM) 指计算相机相对于其周围环境的位置和方向并同时进行环境地图构建的过程。该过程仅使用来自相机的视觉输入。视觉 SLAM 的应用包括增强现实、机器人和自动驾驶。视觉-惯性 SLAM (viSLAM) 是将来自相机的视觉输入与来自 IMU 的位置数据进行融合以改进 SLAM 结果的过程。有关详细信息,请参阅Implement Visual SLAM in MATLAB

函数

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detectSURFFeatures检测 SURF 特征
detectORBFeaturesDetect ORB keypoints
extractFeaturesExtract interest point descriptors
matchFeaturesFind matching features
matchFeaturesInRadiusFind matching features within specified radius (自 R2021a 起)
triangulate3-D locations of undistorted matching points in stereo images
img2world2dDetermine world coordinates of image points (自 R2022b 起)
world2imgProject world points into image (自 R2022b 起)
estgeotform2dEstimate 2-D geometric transformation from matching point pairs (自 R2022b 起)
estgeotform3dEstimate 3-D geometric transformation from matching point pairs (自 R2022b 起)
estimateFundamentalMatrixEstimate fundamental matrix from corresponding points in stereo images
estworldposeEstimate camera pose from 3-D to 2-D point correspondences (自 R2022b 起)
findWorldPointsInViewFind world points observed in view
findWorldPointsInTracksFind world points that correspond to point tracks
estrelposeCalculate relative rotation and translation between camera poses (自 R2022b 起)
optimizePosesOptimize absolute poses using relative pose constraints
createPoseGraphCreate pose graph
bundleAdjustmentAdjust collection of 3-D points and camera poses
bundleAdjustmentMotionAdjust collection of 3-D points and camera poses using motion-only bundle adjustment
bundleAdjustmentStructureRefine 3-D points using structure-only bundle adjustment
compareTrajectoriesCompare estimated trajectory against ground truth (自 R2024b 起)
trajectoryErrorMetricsStore accuracy metrics for trajectories (自 R2024b 起)
imshow显示图像
showMatchedFeaturesDisplay corresponding feature points
plotPlot image view set views and connections
plotCameraPlot camera in 3-D coordinates
pcshowPlot 3-D point cloud
pcplayerVisualize streaming 3-D point cloud data
bagOfFeaturesBag of visual words object
bagOfFeaturesDBoWBag of visual words using DBoW2 library (自 R2024b 起)
dbowLoopDetectorDetect loop closure using visual features (自 R2024b 起)
imageviewsetManage data for structure-from-motion, visual odometry, and visual SLAM
worldpointsetManage 3-D to 2-D point correspondences
indexImagesCreate image search index
invertedImageIndexSearch index that maps visual words to images
monovslamVisual simultaneous localization and mapping (vSLAM) and visual-inertial sensor fusion with monocular camera (自 R2023b 起)
addFrameAdd image frame to visual SLAM object (自 R2023b 起)
hasNewKeyFrameCheck if new key frame added in visual SLAM object (自 R2023b 起)
checkStatusCheck status of visual SLAM object (自 R2023b 起)
isDoneEnd-of-file status (logical)
mapPointsBuild 3-D map of world points (自 R2023b 起)
posesAbsolute camera poses of key frames (自 R2023b 起)
plotPlot 3-D map points and estimated camera trajectory in visual SLAM (自 R2023b 起)
resetReset visual SLAM object (自 R2023b 起)
rgbdvslamFeature-based visual simultaneous localization and mapping (vSLAM) and visual-inertial sensor fusion with RGB-D camera (自 R2024a 起)
addFrameAdd pair of color and depth images to RGB-D visual SLAM object (自 R2024a 起)
hasNewKeyFrameCheck if new key frame added in RGB-D visual SLAM object (自 R2024a 起)
checkStatusCheck status of visual RGB-D SLAM object (自 R2024a 起)
isDoneEnd-of-processing status for RGB-D visual SLAM object (自 R2024a 起)
mapPointsBuild 3-D map of world points from RGB-D vSLAM object (自 R2024a 起)
posesAbsolute camera poses of RGB-D vSLAM key frames (自 R2024a 起)
plotPlot 3-D map points and estimated camera trajectory in RGB-D visual SLAM (自 R2024a 起)
resetReset RGB-D visual SLAM object (自 R2024a 起)
stereovslamFeature-based visual simultaneous localization and mapping (vSLAM) and visual-inertial sensor fusion with stereo camera (自 R2024a 起)
addFrameAdd pair of color and depth images to stereo visual SLAM object (自 R2024a 起)
hasNewKeyFrameCheck if new key frame added in stereo visual SLAM object (自 R2024a 起)
checkStatusCheck status of stereo visual SLAM object (自 R2024a 起)
isDoneEnd-of-processing status for stereo visual SLAM object (自 R2024a 起)
mapPointsBuild 3-D map of world points from stereo vSLAM object (自 R2024a 起)
posesAbsolute camera poses of stereo key frames (自 R2024a 起)
plotPlot 3-D map points and estimated camera trajectory in stereo visual SLAM (自 R2024a 起)
resetReset stereo visual SLAM object (自 R2024a 起)

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