Fast initialization for monocular visual SLAM

摘要

Apparatuses and methods for fast visual simultaneous localization and mapping are described. In one embodiment, a three-dimensional (3D) target is initialized immediately from a first reference image and prior to processing a subsequent image. In one embodiment, one or more subsequent reference images are processed, and the 3D target is tracked in six degrees of freedom. In one embodiment, the 3D target is refined based on the processed the one or more subsequent images.

主权项

1. A processor-implemented method for visual simultaneous localization and mapping, the method comprising:
initializing a three-dimensional (3D) target based on a first set of target 3D points obtained from a first reference image, wherein the target 3D points in the first set are initialized along a plane at a predetermined initial depth value prior to processing a subsequent image; processing one or more subsequent images; tracking the 3D target in six degrees of freedom; and refining the 3D target based on subsequent sets of target 3D points obtained from the processing of the one or more subsequent images, each subsequent set of target 3D points corresponding to one of the one or more subsequent images.