Real-Time Photometric Calibrated Monocular Direct Visual SLAM

Real-Time Photometric Calibrated Monocular Direct Visual SLAM

To solve the illumination sensitivity problems of mobile ground equipment, an enhanced visual SLAM algorithm based on the sparse direct method was proposed in this paper. Firstly, the vignette and response functions of the input sequences were optimized based on the photometric formation of the came...

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Bibliographic Details
Main Authors: Peixin Liu, Xianfeng Yuan, Chengjin Zhang, Yong Song, Chuanzheng Liu, Ziyan Li
Format: Article
Language:English
Published: MDPI AG 2019-08-01
Series:Sensors
Subjects:
visual SLAM
sparse direct method
photometric calibration
corner detection and filtering
loop closure detection
Online Access:https://www.mdpi.com/1424-8220/19/16/3604

Internet

https://www.mdpi.com/1424-8220/19/16/3604

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