An ORB Based Visual SLAM System by RGB-D Camera of LeTV

被引：0

作者：

Fan, Yang ^{[1
]}

Ming, Li ^{[1
]}

机构：

[1] Shanghai Dianji Univ, Sch Elect Informat, Shanghai, Peoples R China

来源：

2017 9TH INTERNATIONAL CONFERENCE ON ADVANCED INFOCOMM TECHNOLOGY (ICAIT 2017) | 2017年

关键词：

visual SLAM; ORB feature; RGB-D camera; computer vision; intelligent robot;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents a visual simultaneously localization and mapping (SLAM) system based on Oriented FAST and Rotated BRIEF (ORB) and the RGB-D camera accessory of LeTV. Frame matching is performed through ORB feature and random sample and consensus (RANSAC) algorithm. G2o library is used as graph based pose optimization framework. Alternative key frame generation method is proposed to get increased processing capacity. Dense point cloud map which can be used for following intelligent robot related applications is generated from the depth information captured with color image simultaneously by the calibrated RGB-D camera.

引用

页码：406 / 410

页数：5

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