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A visual SLAM
What is the visual SLAM?
SLAMIs Simultaneous Localization and Mappingthe abbreviation, Chinese translated as "simultaneous localization and mapping." It refers to a particular sensor mounted on the body (such as cleaning robots, unmanned aerial vehicles, unmanned vehicles, etc.), in the absence of prior information (such as the cleaning robot not a plan view of the room data), the establishment of the environment in the process of movement the model (such as sweeping motion of the robot side edge build two-dimensional map of the room), and estimated their movements (such as at this moment, the cleaning robot are located).
If the sensor here mainly for the camera, it is called "visual SLAM".
SLAM Difficulties?
(1) real time
(2) without a priori information
SLAM basic knowledge and reference books related to what?
SLAM basics are:
(1) projective geometry
(2) Computer Vision
(3) state estimation theory
(4) Li Lie algebra
SLAM reference books are:
(1) "probability Robot" (Probabilistic Robotics)
(2) "computer vision multi-view geometry" (multiple view the geometry in computer vision)
(. 3) "state estimation robotics" (state estimation, for robotics: the Matrix-a-Lie Group Approach)
(. 4) "visual SLAM fourteen speak"