Constructing a Database From Multiple 2D Images for Camera Pose Estimation and Robot Localization

摘要

The LMDB (Landmark Database) Builder software identifies persistent image features ("landmarks") in a scene viewed multiple times and precisely estimates the landmarks' 3D world positions. The software receives as input multiple 2D images of approximately the same scene, along with an initial guess of the camera poses for each image, and a table of features matched pair-wise in each frame. LMDB Builder aggregates landmarks across an arbitrarily large collection of frames with matched features. Range data from stereo vision processing can also be passed to improve the initial guess of the 3D point estimates.