시각 기반의 동시적 위치추정 및 지도작성(vSLAM)

시각 기반의 SLAM 맵 초기화, 추적, 국소 매핑, 루프 검출 및 드리프트 보정

시각 기반의 동시적 위치추정 및 지도작성(vSLAM)은 주변 환경에 대하여 지도를 작성하면서 동시에 이 환경을 기준으로 카메라의 위치와 방향을 계산하는 과정을 가리킵니다. 이 과정에는 카메라로 획득하는 시각적 입력만 사용됩니다. 시각 기반의 SLAM의 응용 분야에는 증강현실, 로봇공학, 자율주행 등이 있습니다. 자세한 내용은 Implement Visual SLAM in MATLAB 항목을 참조하십시오.

함수

모두 확장

특징 검출, 추출 및 매칭

`detectSURFFeatures`	SURF 특징을 검출하고 `SURFPoints` 객체를 반환
`detectORBFeatures`	Detect ORB keypoints
`extractFeatures`	Extract interest point descriptors
`matchFeatures`	매칭되는 특징 찾기
`matchFeaturesInRadius`	Find matching features within specified radius

3차원 구조 복원

`triangulate`	3-D locations of undistorted matching points in stereo images
`img2world2d`	Determine world coordinates of image points
`world2img`	Project world points into image

움직임 추정

`estgeotform2d`	Estimate 2-D geometric transformation from matching point pairs
`estgeotform3d`	Estimate 3-D geometric transformation from matching point pairs
`estimateFundamentalMatrix`	Estimate fundamental matrix from corresponding points in stereo images
`estworldpose`	Estimate camera pose from 3-D to 2-D point correspondences
`findWorldPointsInView`	Find world points observed in view
`findWorldPointsInTracks`	Find world points that correspond to point tracks
`estrelpose`	Calculate relative rotation and translation between camera poses

움직임 및 3차원 구조 최적화

`optimizePoses`	Optimize absolute poses using relative pose constraints
`createPoseGraph`	Create pose graph
`bundleAdjustment`	Adjust collection of 3-D points and camera poses
`bundleAdjustmentMotion`	Adjust collection of 3-D points and camera poses using motion-only bundle adjustment
`bundleAdjustmentStructure`	Refine 3-D points using structure-only bundle adjustment

결과 시각화하기

`imshow`	이미지 표시
`showMatchedFeatures`	Display corresponding feature points
`plot`	Plot image view set views and connections
`plotCamera`	Plot a camera in 3-D coordinates
`pcshow`	Plot 3-D point cloud
`pcplayer`	Visualize streaming 3-D point cloud data

데이터 관리

`imageviewset`	Manage data for structure-from-motion, visual odometry, and visual SLAM
`worldpointset`	Manage 3-D to 2-D point correspondences
`indexImages`	Create image search index
`invertedImageIndex`	Search index that maps visual words to images
`bagOfFeatures`	Bag-of-visual-words 객체

도움말 항목

Stereo Visual Simultaneous Localization and Mapping
Process image data from a stereo camera to build a map of an outdoor environment and estimate the trajectory of the camera.
Visual Localization in a Parking Lot
Develop a visual localization system using synthetic image data from the Unreal Engine® simulation environment.
Stereo Visual SLAM for UAV Navigation in 3D Simulation
Develop a visual SLAM algorithm for a UAV equipped with a stereo camera.
Develop Visual SLAM Algorithm Using Unreal Engine Simulation (Automated Driving Toolbox)
Develop a visual simultaneous localization and mapping (SLAM) algorithm using image data from the Unreal Engine^® simulation environment.
Implement Visual SLAM in MATLAB
Understand the visual simultaneous localization and mapping (vSLAM) workflow and how to implement it using MATLAB.
Choose SLAM Workflow Based on Sensor Data
Choose the right simultaneous localization and mapping (SLAM) workflow and find topics, examples, and supported features.