MONOCULAR VISUAL SLAM WITH GENERAL AND PANORAMA CAMERA MOVEMENTS

摘要

system, apparatus, and method are disclosed for unilateral visual simultaneous localization and mapping for handling common 6DOF and panoramic camera movement. The 3D map of the environment, including regular or panoramic feature has a depth of endless or finite observed in the key frame is received. The camera is tracking 6DOF from the infinite, finite, or in mixed feature set. Upon detection of the unmapped panoramic camera movement toward the scene area, a reference panorama key frames having infinite feature is generated and inserted into a 3D map. The panoramic camera motion is to extend towards the scene area that are not mapped, based on the key frame is extended with additional dependent key frame panorama. The panorama keyframes are strongly localized in conjunction with the finite 6DOF 3D map feature. Panoramic keyframe localized comprise 2D observations of infinity is consistent with the 2D map features observed in different localized keyframe. 2D-2D triangulation results are relevant to them as a result of the new 3D maps feature finite. ;