Nothing Special   »   [go: up one dir, main page]

Yoon et al., 2024 - Google Patents

Stereo Vision SLAM with SuperPoint and SuperGlue

Yoon et al., 2024

View PDF
Document ID
9019970666377764501
Author
Yoon S
Park S
Publication year
Publication venue
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences

External Links

Snippet

This paper presents a method for stereo visual odometry and mapping that integrates VINS- Fusion-based visual odometry estimation with deep learning techniques for camera pose tracking and stereo image matching. Traditional approaches in the VINS-Fusion relied on …
Continue reading at isprs-archives.copernicus.org (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624—Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00791—Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/36—Image preprocessing, i.e. processing the image information without deciding about the identity of the image
    • G06K9/46—Extraction of features or characteristics of the image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/62—Methods or arrangements for recognition using electronic means
    • G06K9/6201—Matching; Proximity measures
    • G06K9/6202—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00221—Acquiring or recognising human faces, facial parts, facial sketches, facial expressions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00201—Recognising three-dimensional objects, e.g. using range or tactile information
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformation in the plane of the image, e.g. from bit-mapped to bit-mapped creating a different image
    • G06T3/0068—Geometric image transformation in the plane of the image, e.g. from bit-mapped to bit-mapped creating a different image for image registration, e.g. elastic snapping

Similar Documents

Publication Publication Date Title
CN112785702B (en) SLAM method based on tight coupling of 2D laser radar and binocular camera
Lategahn et al. Vision-only localization
Alcantarilla et al. On combining visual SLAM and dense scene flow to increase the robustness of localization and mapping in dynamic environments
Tardif et al. Monocular visual odometry in urban environments using an omnidirectional camera
US9449431B2 (en) Systems and methods for matching scenes using mutual relations between features
Lins et al. Vision-based measurement for localization of objects in 3-D for robotic applications
Goecke et al. Visual vehicle egomotion estimation using the fourier-mellin transform
JP2009146406A (en) Visually tracking an object in real world using 2d appearance and multicue depth estimations
EP2948927A1 (en) A method of detecting structural parts of a scene
IL198560A (en) Method and apparatus for vision based motion determination
Usenko et al. Reconstructing street-scenes in real-time from a driving car
Parra et al. Robust visual odometry for vehicle localization in urban environments
Yabuuchi et al. Visual localization for autonomous driving using pre-built point cloud maps
Lee et al. Two-frame structure from motion using optical flow probability distributions for unmanned air vehicle obstacle avoidance
Hoang et al. Combining edge and one-point ransac algorithm to estimate visual odometry
Jiang et al. Icp stereo visual odometry for wheeled vehicles based on a 1dof motion prior
Yoon et al. Stereo Vision SLAM with SuperPoint and SuperGlue
Elnashef et al. Drift reduction in underwater egomotion computation by axial camera modeling
EP2093713A2 (en) A method of estimating a motion of a multiple camera system, a multiple camera system and a computer program product
Veth et al. Image‐Aided Navigation–Concepts and Applications
Ren An improved binocular LSD_SLAM method for object localization
Comport et al. Global point-to-hyperplane icp: Local and global pose estimation by fusing color and depth
CN115700507B (en) Map updating method and device
Fox et al. An approach to stereo-point cloud registration using image homographies
Rawashdeh et al. Scene Structure Classification as Preprocessing for Feature-Based Visual Odometry