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ACCOMMODATING DEPTH NOISE IN VISUAL SLAM USING MAP-POINT CONSENSUS
ACCOMMODATING DEPTH NOISE IN VISUAL SLAM USING MAP-POINT CONSENSUS
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机译:使用地图点共识在视觉漫游中适应深度噪声
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摘要
An apparatus, method, and computer readable medium to accommodate depth noise in SLAM (Simultaneous Localization & Mapping). The method includes receiving correspondences and clusters for pose estimation. After the correspondences and clusters are received, a dynamic centroid is determined using 3-D features of a landmark. The 3-D features of the landmark comprise a cluster. Next, distance-error metrics are determined using the dynamic centroid, a map point, and the cluster. The distance-error metrics are compared with thresholds to remove depth noise affected 3-D features and landmarks when the distance-error metrics are larger than the thresholds. The remaining 3-D features of the cluster are sent to a pose estimation framework.
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