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3dline-slam

3DLines-SLAM: A Monocular Vision Semi-Dense 3D Reconstruction Based on ORB-SLAM Abstract-Producing high-quality 3D maps and calculating more accurate camera pose has always been the goal of SLAM technology. The requirements of SLAM technology such as real-time, low computational cost, and low hardware cost are contradictory to the above objectives. For the issues listed above, we propose a novel semi-dense reconstruction algorithm based on the monocular ORB-SLAM system by matching the line segment features extracted from keyframes. Specifically, we build upon ORB-SLAM, the system first provides a set of keyframes and their corresponding camera poses and a series of map points in real-time. Then we use our developed a keyframe re-culling algorithm to culling redundant keyframes. Then an improved line segment extraction method is used to extract line segments in each keyframe. Finally, we use purely geometric constraints to generates accurate 3D scene model by matching 2D line segments from different keyframes. We thoroughly evaluate and in-depth analysis of our approach, the results show our system runs steadily and reliably. Not only the whole system has strong robustness, but also it can quickly generate an accurate 3d model online with low computational costs.

binocular_stereo_vision

存放之前使用c++编写的双目立体视觉三维重建的相关代码和文件

books

【编程随想】收藏的电子书清单（多个学科，含下载链接）

collected_links

收藏的链接

collections

整理自己的收藏

esvo

This repository maintains the implementation of "Event-based Stereo Visual Odometry".

github-search-advanced

:mag:github search advanced. Github高级搜索技巧

haoel.github.io

科学与魔法

opensource

【编程随想】收藏的开源项目清单

orb-slam2-stereodensemap

simple_matlab_mekf

a simple matlab implementation of a 6 state mekf for attitude estimation

sites

【编程随想】收藏的各色网站

slam

learning SLAM,curse,paper and others

usefulweb

一些有用的网站收藏。