Обзор современных методов визуальной одометрии
DOI:
https://doi.org/10.32603/2071-2340-2019-3-5-14Ключевые слова:
визуальная одометрия, SLAM, автономная навигация, ADAS, UAVАннотация
В этой статье описываются задачи систем визуальной одометрии и SLAM и их основные применения. Далее перечисляются основные подходы, использованные научным сообществом для создания таких систем в разное время. Мы также углубляемся в более современный метод, основанный на совместной оптимизации, и разбираем его вариации в зависимости от требований к решению. Наконец, мы рассматриваем современные направления исследований в области визуальной одометрии и кратко представляем свои наработки.
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Copyright (c) 2019 Mikhail A. Terekhov
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