RGB-D camera based tracking system and method thereof

摘要

A visual SLAM system comprises a plurality of keyframes including a keyframe, a current keyframe, and a previous keyframe, a dual dense visual odometry configured to provide a pairwise transformation estimate between two of the plurality of keyframes, a frame generator configured to create keyframe graph, a loop constraint evaluator adds a constraint to the receiving keyframe graph, and a graph optimizer configured to produce a map with trajectory.