Monocular vision SLAM using movement and panoramic camera movement overall camera

摘要

Overall 6DOF camera movement and monocular visual simultaneous localization and system for mapping deal with the panoramic camera movement, the apparatus and method is disclosed. Environment 3D map including the features having a finite depth or infinite depth observed in regular keyframes or panoramic key frame is received. The camera is tracking a finite set of features, from an infinite feature set or mixed feature set in 6DOF. When the panoramic camera moving toward mapped not the scene area is detected, the reference panorama keyframes with infinite features are generated and inserted into the 3D map. If the panoramic camera movement extends toward the scene area not mapped, the reference keyframe is extended using the other dependent panoramic keyframe. Panorama key frame is robust localized in 6DOF for finite 3D map features. Panoramic keyframe localized includes a 2D viewing infinite map features that are aligned with 2D observations in other key frames localized. 2D-2D sign is triangulation, new finite 3D map features can be obtained