In the last few decades, Structure from Motion (SfM) and visual Simultaneous Localization
and Mapping (visual SLAM) techniques have gained significant interest from both the …

This paper presents ORB-SLAM, a feature-based monocular simultaneous localization and
mapping (SLAM) system that operates in real time, in small and large indoor and outdoor …

Low textured scenes are well known to be one of the main Achilles heels of geometric
computer vision algorithms relying on point correspondences, and in particular for visual …

Visual simultaneous localization and mapping (SLAM) has attracted high attention over the
past few years. In this paper, a comprehensive survey of the state-of-the-art feature-based …

Extensive research in the field of monocular SLAM for the past fifteen years has yielded
workable systems that found their way into various applications in robotics and augmented …

Reliable feature correspondence between frames is a critical step in visual odometry (VO)
and visual simultaneous localization and mapping (V-SLAM) algorithms. In comparison with …

In this paper, we comprehensively discuss the current progress of visual-inertial (VI)
navigation systems and sensor fusion research with a particular focus on small unmanned …

In this paper, a novel pipeline for loop-closure detection is proposed. We base our work on a
bag of binary feature words and we produce a description vector capable of characterizing a …

The basis for most vision based applications like robotics, self-driving cars and potentially
augmented and virtual reality is a robust, continuous estimation of the position and …

摘要定位是移动机器人导航的重要组成部分. 在定位问题中, 视觉发挥了越来越重要的作用.
本文首先给出了视觉定位的数学描述, 然后按照数据关联方式的不同介绍了视觉里程计(Visual …