jin1026 Goto Github PK

3dline-slam

3DLines-SLAM: A Monocular Vision Semi-Dense 3D Reconstruction Based on ORB-SLAM Abstract-Producing high-quality 3D maps and calculating more accurate camera pose has always been the goal of SLAM technology. The requirements of SLAM technology such as real-time, low computational cost, and low hardware cost are contradictory to the above objectives. For the issues listed above, we propose a novel semi-dense reconstruction algorithm based on the monocular ORB-SLAM system by matching the line segment features extracted from keyframes. Specifically, we build upon ORB-SLAM, the system first provides a set of keyframes and their corresponding camera poses and a series of map points in real-time. Then we use our developed a keyframe re-culling algorithm to culling redundant keyframes. Then an improved line segment extraction method is used to extract line segments in each keyframe. Finally, we use purely geometric constraints to generates accurate 3D scene model by matching 2D line segments from different keyframes. We thoroughly evaluate and in-depth analysis of our approach, the results show our system runs steadily and reliably. Not only the whole system has strong robustness, but also it can quickly generate an accurate 3d model online with low computational costs.

awesome-vio

Discuss about VIO in PaoPaoRobot group

awesome-visual-slam

:books: The list of vision-based SLAM / Visual Odometry open source, blogs, and papers

deep-learning-interview-book

深度学习面试宝典（含数学、机器学习、深度学习、计算机视觉、自然语言处理和SLAM等方向）

eiba

Efficient Incremental BA

gf-pl-slam

icra2020-paper-list

ICRA2020 paperlist by paopaorobot

libviso2

linesegmentmatching

The code for the proposed line segment matching method

mvision

机器人视觉 移动机器人 VS-SLAM ORB-SLAM2 深度学习目标检测 yolov3 行为检测 opencv PCL 机器学习 无人驾驶

orb-slam2_with_line

Monocular ORB-SLAM with Line Features.

orb_line_slam

line feature based SLAM, modified based on the famous ORB-SLAM2

pl-slam

This code contains an algorithm to compute stereo visual SLAM by using both point and line segment features.

pl-slam-1

PL-SLAM: The method is implemented in《PL-SLAM:Real-time Monocular Visual SLAM with Points and Lines》

pl-svo

This code contains an algorithm to compute monocular visual odometry by using both point and line segment features, based on the open source version of SVO.

recent-stars-2019

:star: SLAM, Pose/Object tracking, Depth/Disparity/Flow Estimation, 3D-graphic, etc. related papers and code

recent_slam_research

跟踪SLAM前沿动态【周更】

reslam

RESLAM: A real-time robust edge-based SLAM system

slam

learning SLAM,curse,paper and others

slambook

structslam

stvo-pl

Stereo Visual Odometry by combining point and line segment features

vilin-numerical-optimization

Application and framework for executing and testing numerical optimization methods. State of the art algorithms such as l-bfgs, cg_descent, Levenberg-Marquardt etc. A various line search methods: Wolfe, strong Wolfe, More-Thuente, approx-Wolfe. Useful and user friendly gui

vins-mono

A Robust and Versatile Monocular Visual-Inertial State Estimator