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125 results about "Appearance based" patented technology

Image appearance based loop closure detecting method in monocular vision SLAM (simultaneous localization and mapping)

The invention discloses an image appearance based loop closure detecting method in monocular vision SLAM (simultaneous localization and mapping). The image appearance based loop closure detecting method includes acquiring images of the current scene by a monocular camera carried by a mobile robot during advancing, and extracting characteristics of bag of visual words of the images of the current scene; preprocessing the images by details of measuring similarities of the images according to inner products of image weight vectors and rejecting the current image highly similar to a previous history image; updating posterior probability in a loop closure hypothetical state by a Bayesian filter process to carry out loop closure detection so as to judge whether the current image is subjected to loop closure or not; and verifying loop closure detection results obtained in the previous step by an image reverse retrieval process. Further, in a process of establishing a visual dictionary, the quantity of clustering categories is regulated dynamically according to TSC (tightness and separation criterion) values which serve as an evaluation criterion for clustering results. Compared with the prior art, the loop closure detecting method has the advantages of high instantaneity and detection precision.
Owner:NANJING UNIV OF POSTS & TELECOMM

Unmanned-aerial-vehicle visual-SLAM (Simultaneous Localization and Mapping) method based on binocular camera, unmanned aerial vehicle and storage medium

The invention discloses an unmanned-aerial-vehicle visual-SLAM (Simultaneous Localization and Mapping) method based on a binocular camera, an unmanned aerial vehicle and a computer-readable storage medium. The method includes the steps of: acquiring depth images of at least two different locations through the binocular camera; obtaining camera pose information through a visual odometer according to the acquired depth images of the at least two different locations; carrying out nonlinear optimization, appearance-based circle loop detection and circle loop verification on the camera pose information to obtain optimized camera pose information; and carrying out binocular dense mapping according to the optimized camera pose information to obtain a global map. According to the method, the depthimages of the different locations are acquired through the binocular camera, and binocular dense mapping is carried out after use of the visual odometer, nonlinear optimization, circle loop detectionand circle loop verification to obtain the global map; and on the one hand, the interference problem existing with adopting of RGB-D cameras can be solved, and on the other hand, more precise localization can be realized, and the more precise map is established.
Owner:EHANG INTELLIGENT EQUIP GUANGZHOU CO LTD
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