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svo-note's Introduction

SVO-Note

SVO源码注释,半直接法VO。

SVO(Semi-direct monocular Visual Odometry),半直接法视觉里程计,只有前端。它结合了特征点和直接法,取特征点周围块的像素点用直接法进行跟踪,而不是跟踪所有的像素点。对于前端,包括典型的frame-to-frame,frame-to-map跟踪。对于建图部分,维护逆深度的分布(均值、方差),每次新来一帧,根据极线约束寻找投影点,然后三角化,更新逆深度的均值与方差,直到方差较小,认为该点的逆深度值比较准确了,便不再更新。主要知识点包括:

  • 直接法,最小化光度误差,雅可比的构造
  • 深度滤波器,理论推导

代码流程图

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贴一下论文给出的整体框架

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深度滤波示意图

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知乎文章

svo-note's People

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