SYSTEMS AND METHODS FOR EDGE POINTS BASED MONOCULAR VISUAL SLAM

摘要

Feature based visual simultaneous localization and mapping (SLAM) do not produce reliable camera and structure estimates due to insufficient features in a low-textured environment. Moreover, existing visual SLAMs produce partial reconstruction when the number of 3D-2D correspondences is insufficient for incremental camera estimation using bundle adjustment. Systems and methods of the present disclosure provide edge points based monocular visual SLAM that mitigates these problems. The SLAM is initialized through a validation process. A local optimization process is provided for stable pose estimation in situations where camera tracking becomes unreliable in a very low-textured challenging environment. An efficient and reliable loop closing process that uses structural properties of edges in the frames is also provided.