建议从ORBSLAM与VINS开始学习源码,然后是OKVIS
![](https://img.haomeiwen.com/i17040156/14107830b77da3f2.png)
![](https://img.haomeiwen.com/i17040156/b944a5eb129fa521.png)
![](https://img.haomeiwen.com/i17040156/3edabbc74c7e341b.png)
![](https://img.haomeiwen.com/i17040156/0fe5a4f661dbee0e.png)
![](https://img.haomeiwen.com/i17040156/6472c5bb27b6c973.png)
![](https://img.haomeiwen.com/i17040156/97b02605cb18ab94.png)
![](https://img.haomeiwen.com/i17040156/8f31470dadd971e3.png)
![](https://img.haomeiwen.com/i17040156/e895da3e43634d3c.png)
![](https://img.haomeiwen.com/i17040156/b004e0c89e20a3f9.png)
![](https://img.haomeiwen.com/i17040156/68bc12968a9f40fe.png)
![](https://img.haomeiwen.com/i17040156/0b956437f003bd3f.png)
![](https://img.haomeiwen.com/i17040156/1ec518a7948fc805.png)
![](https://img.haomeiwen.com/i17040156/ba9cee3f5fb75108.png)
![](https://img.haomeiwen.com/i17040156/98f2717c865b0269.png)
![](https://img.haomeiwen.com/i17040156/e13de0b7d9b5d3e6.png)
![](https://img.haomeiwen.com/i17040156/d527a5bd4b997791.png)
![](https://img.haomeiwen.com/i17040156/dcfa357da5eb8ac0.png)
![](https://img.haomeiwen.com/i17040156/060ba36843f2517c.png)
![](https://img.haomeiwen.com/i17040156/7aa38333d31d2e3d.png)
方便入手
![](https://img.haomeiwen.com/i17040156/276e719834ecb332.png)
![](https://img.haomeiwen.com/i17040156/7034fe20cba184bf.png)
![](https://img.haomeiwen.com/i17040156/fa835437f632aaff.png)
需要对IMU进行比较好的标定
![](https://img.haomeiwen.com/i17040156/bcbb71d77f7917df.png)
![](https://img.haomeiwen.com/i17040156/8fc7737382f5b0ca.png)
![](https://img.haomeiwen.com/i17040156/ef05e64b0fb9db50.png)
![](https://img.haomeiwen.com/i17040156/c5c1d1aa1ec4d6cf.png)
![](https://img.haomeiwen.com/i17040156/e3a6128445991400.png)
![](https://img.haomeiwen.com/i17040156/2369be4229a496ac.png)
![](https://img.haomeiwen.com/i17040156/db48b6480d894d8f.png)
![](https://img.haomeiwen.com/i17040156/2ba9d0b8916e072b.png)
![](https://img.haomeiwen.com/i17040156/9944fee18aee05ec.png)
![](https://img.haomeiwen.com/i17040156/70ab16ebc94a2797.png)
![](https://img.haomeiwen.com/i17040156/9bb69acad25e4963.png)
![](https://img.haomeiwen.com/i17040156/11423fa0f5a0eafc.png)
移动比较快的场景用全局快门的相机
![](https://img.haomeiwen.com/i17040156/8fdd8070917bda55.png)
小视角、广角相机、鱼眼相机(能看到180°看的比较全,计算深度会有问题)
![](https://img.haomeiwen.com/i17040156/1815e757af2164ab.png)
双目摄像头:两个摄像头的时间要同步精准
根据需要测量的深度,确定合适的baseline
![](https://img.haomeiwen.com/i17040156/ba07e11c4716231b.png)
![](https://img.haomeiwen.com/i17040156/bad8f349136e42f8.png)
中间空洞的没有恢复出来深度,左边深度图比较好,右边是机器学习训练出来的(问题是自己数据集比较好,其他的不行)
![](https://img.haomeiwen.com/i17040156/dc6900740628693c.png)
![](https://img.haomeiwen.com/i17040156/06f7019ca2c75ae7.png)
建议从ORBSLAM与VINS开始学习源码,然后是OKVIS
方便入手
需要对IMU进行比较好的标定
移动比较快的场景用全局快门的相机
中间空洞的没有恢复出来深度,左边深度图比较好,右边是机器学习训练出来的(问题是自己数据集比较好,其他的不行)
本文标题:【深蓝学院公开课】如何进行VSLAM技术转型
本文链接:https://www.haomeiwen.com/subject/ulosaktx.html
网友评论