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ORB-SLAM算法模型综述
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作者 李博娜 《软件工程与应用》 2023年第1期78-86,共9页
提出于2015年的ORB-SLAM是当今同时定位与地图创建(SLAM)系统中做得非常完善、非常易用的系统之一,代表着主流的特征点SLAM的一个高峰。系统包含了SLAM所有的主要模块:特征匹配、跟踪、建图、重定位和闭环检测,同时有单目、双目、RGBD... 提出于2015年的ORB-SLAM是当今同时定位与地图创建(SLAM)系统中做得非常完善、非常易用的系统之一,代表着主流的特征点SLAM的一个高峰。系统包含了SLAM所有的主要模块:特征匹配、跟踪、建图、重定位和闭环检测,同时有单目、双目、RGBD相机、鱼眼相机的接口,能够实时计算出相机的轨迹,并生成场景的稀疏三维重建结果。ORB-SLAM3于2020年发布,集成了共视图、词袋、ORB特征三个手段进一步使定位更加准确。本文侧重结合最新的ORB-SLAM3版本,从相机模型、多地图系统以及地图融合三个主要方面对其最新发展进行介绍。对每一个方面,阐述其每一个版本的关键设计及改进,为ORB-SLAM系统提供一个全面的概述。对相关系统的研究者来说,掌握了解其发展是非常友好的。最后,本文介绍ORB-SLAM最新研究进展并做出评价。 展开更多
关键词 ORB-SLAM 鱼眼相机 多地图系统 地图融合
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Navigation System for Foreign Tourists in Japan 被引量:1
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作者 Kayoko Yamamoto 《Journal of Environmental Science and Engineering(B)》 2017年第10期521-541,共21页
The present study aimed to design, develop, operate and evaluate a sightseeing navigation system in order to support foreign tourists' efficient acquisition of sightseeing spot information in Japanese urban tourist a... The present study aimed to design, develop, operate and evaluate a sightseeing navigation system in order to support foreign tourists' efficient acquisition of sightseeing spot information in Japanese urban tourist areas, about which a variety of information is transmitted, by enabling information to be accumulated, shared and recommended. The system was developed by integrating Web-GIS (Geographic Information Systems), SNS (Social Networking Services) as well as the recommendation system into a single system. The system used the non-language information such as signs, marks and pictograms in addition to English information, and displayed sightseeing spot information and conduct navigation on 2D and 3D digital maps of the Web-GIS. Additionally, the system was operated for two weeks in the central part of Yokohama city in Kanagawa Prefecture, Japan, and the total number of users was 54. Based on the results of the web questionnaire survey, all of the specific functions are highly evaluated, and the usefulness of the system when sightseeing was excellent. From the results of the access analysis of users' log data, it is evident that it can be said that the system was mainly used before sightseeing and users confirm their favorite sightseeing spots and made their tour planning in advance, using 2D and 3D digital maps. 展开更多
关键词 Sightseeing navigation system Web-GIS (Geographic Information Systems) SNS (Social Networking Service) recommendation system non-language information foreign tourists.
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