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vSLAM

Monocular, stereo, and RGB-D visual simultaneous localization and mapping (vSLAM)

Visual simultaneous localization and mapping (vSLAM), refers to the process of calculating the position and orientation of a camera, with respect to its surroundings, while simultaneously mapping the environment. The process uses only visual inputs from the camera. Applications for visual SLAM include augmented reality, robotics, and autonomous driving. For more details, see Implement Visual SLAM in MATLAB.

Funktionen

alle erweitern

detectSURFFeaturesDetect SURF features
detectORBFeaturesDetect ORB keypoints (Seit R2019a)
extractFeaturesExtract interest point descriptors
matchFeaturesFind matching features
matchFeaturesInRadiusFind matching features within specified radius (Seit R2021a)
triangulate3-D locations of undistorted matching points in stereo images
img2world2dDetermine world coordinates of image points (Seit R2022b)
world2imgProject world points into image (Seit R2022b)
estgeotform2dEstimate 2-D geometric transformation from matching point pairs (Seit R2022b)
estgeotform3dEstimate 3-D geometric transformation from matching point pairs (Seit R2022b)
estimateFundamentalMatrixEstimate fundamental matrix from corresponding points in stereo images
estworldposeEstimate camera pose from 3-D to 2-D point correspondences (Seit R2022b)
findWorldPointsInViewFind world points observed in view (Seit R2020b)
findWorldPointsInTracksFind world points that correspond to point tracks (Seit R2020b)
estrelposeCalculate relative rotation and translation between camera poses (Seit R2022b)
optimizePosesOptimize absolute poses using relative pose constraints (Seit R2020a)
createPoseGraphCreate pose graph (Seit R2020a)
bundleAdjustmentAdjust collection of 3-D points and camera poses
bundleAdjustmentMotionAdjust collection of 3-D points and camera poses using motion-only bundle adjustment (Seit R2020a)
bundleAdjustmentStructureRefine 3-D points using structure-only bundle adjustment (Seit R2020a)
imshowDisplay image
showMatchedFeaturesDisplay corresponding feature points
plotPlot image view set views and connections (Seit R2020a)
plotCameraPlot a camera in 3-D coordinates
pcshowPlot 3-D point cloud
pcplayerVisualize streaming 3-D point cloud data
imageviewsetManage data for structure-from-motion, visual odometry, and visual SLAM (Seit R2020a)
worldpointsetManage 3-D to 2-D point correspondences (Seit R2020b)
indexImagesCreate image search index
invertedImageIndexSearch index that maps visual words to images
bagOfFeaturesBag of visual words object
monovslamVisual simultaneous localization and mapping (vSLAM) with monocular camera (Seit R2023b)
addFrameAdd image frame to visual SLAM object (Seit R2023b)
hasNewKeyFrameCheck if new key frame added in visual SLAM object (Seit R2023b)
checkStatusCheck status of visual SLAM object (Seit R2023b)
isDoneEnd-of-file status (logical)
mapPointsBuild 3-D map of world points (Seit R2023b)
posesAbsolute camera poses of key frames (Seit R2023b)
plotPlot 3-D map points and estimated camera trajectory in visual SLAM (Seit R2023b)
resetReset visual SLAM object (Seit R2023b)

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