浙大计算摄影学之slam章节讲义.pdf

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实时摄像机跟踪章国锋浙江大学CAD&CG实验室

SLAM  Simultaneous Localization and Mapping  Estimate the environment structure and the camera trajectory online, under a highly nonlinear partial observation model.

SLAM for Visual Odometry Jean-Philippe Tardif, Yanis Pavlidis, Kostas Daniilidis. Monocular visual odometry in urban environments using an omnidirectional camera. IROS, pp. 2531-2538, 2008.

SLAM for Augmented Reality

Multi-View Geometry  Structure-from-Motion  Automatically recover the camera parameters and 3D structure from multiple images or video sequences. Snavely et al. 2006

Multi-View Geometry X F x Projection Function

Structure-from-Motion  Pipeline  Feature Tracking  Obtain a set of feature tracks  Structure from Motion  Solve the camera parameters and 3D points of tracks  SLAM: real-time SfM

Bundle Adjustment  Definition  Refining a visual reconstruction to produce jointly optimal 3D structure and viewing parameter (camera pose and/or calibration) estimates. B. Triggs, P. F. McLauchlan, R. I. Hartley, and A.W. Fitzgibbon. Bundle adjustment - a modern synthesis. In Workshop on Vision Algorithms, pages 298–-372, 1999.

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