CN115049731B - 一种基于双目摄像头的视觉建图和定位方法 - Google Patents
一种基于双目摄像头的视觉建图和定位方法 Download PDFInfo
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- CN115049731B CN115049731B CN202210690011.1A CN202210690011A CN115049731B CN 115049731 B CN115049731 B CN 115049731B CN 202210690011 A CN202210690011 A CN 202210690011A CN 115049731 B CN115049731 B CN 115049731B
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- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G06V10/443—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components by matching or filtering
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CN110223298A (zh) * | 2019-05-27 | 2019-09-10 | 东南大学 | 基于点云局部结构的语义分割改进算法 |
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CN111060101B (zh) * | 2018-10-16 | 2022-06-28 | 深圳市优必选科技有限公司 | 视觉辅助的距离slam方法及装置、机器人 |
CN111292420B (zh) * | 2020-02-28 | 2023-04-28 | 北京百度网讯科技有限公司 | 用于构建地图的方法和装置 |
CN112562081B (zh) * | 2021-02-07 | 2021-05-11 | 之江实验室 | 一种用于视觉分层定位的视觉地图构建方法 |
CN114358133B (zh) * | 2021-12-09 | 2023-04-18 | 虎联智能(武汉)科技有限公司 | 一种基于语义辅助双目视觉slam检测回环帧的方法 |
CN115439743A (zh) * | 2022-08-23 | 2022-12-06 | 华南理工大学 | 一种泊车场景下精确提取视觉slam静态特征的方法 |
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