ORB_SLAM2单目初始化全解析

ORB_SLAM2中的单目初始化原理ORB_SLAM2的单目初始化过程在Tracking::MonocularInitialization()函数中实现其核心目标是通过连续两帧图像的特征匹配恢复相机运动和场景结构。该过程分为特征匹配、计算基础矩阵和单应矩阵、模型选择与运动恢复三个关键步骤。单目SLAM初始化需要解决尺度不确定性问题。通过选取两帧图像的匹配点对分别计算基础矩阵Fundamental Matrix和单应矩阵Homography再根据场景类型选择最合适的模型进行初始化。MonocularInitialization()函数代码解析该函数位于src/Tracking.cc文件中主要流程如下void Tracking::MonocularInitialization() { // 步骤1检测第一帧特征点并创建初始地图点 if(mCurrentFrame.mvKeys.empty()) { ExtractORB(0,mCurrentFrame.mImGray,mCurrentFrame.mvKeys,mCurrentFrame.mDescriptors); mCurrentFrame.ExtractORB(0); } // 步骤2等待第二帧并进行特征匹配 if(mInitialFrame.mvKeys.empty()) { mInitialFrame Frame(mCurrentFrame); return; } // 步骤3计算基础矩阵和单应矩阵 vectorint vMatches12; Mat F12 FindFundamental(vMatches12); Mat H12 FindHomography(vMatches12); // 步骤4选择最优模型并恢复运动 float RH ReconstructH(vMatches12,H12,mK,R21,t21,vP3D,vbTriangulated,1.0,50); float RF ReconstructF(vMatches12,F12,mK,R21,t21,vP3D,vbTriangulated,1.0,50); // 步骤5创建初始地图 if(RH0.40 || RF0.30) { CreateInitialMapMonocular(); } }特征匹配与模型计算特征匹配使用ORB特征描述子的汉明距离进行匹配。计算基础矩阵和单应矩阵的核心代码如下Mat Tracking::FindFundamental(vectorint vMatches12) { vectorPoint2f vP1, vP2; for(size_t i0; imvIniMatches.size(); i) { if(mvIniMatches[i]0) { vP1.push_back(mvInitialFrame.mvKeysUn[i].pt); vP2.push_back(mCurrentFrame.mvKeysUn[mvIniMatches[i]].pt); } } return findFundamentalMat(vP1,vP2,FM_RANSAC,3,0.99); } Mat Tracking::FindHomography(vectorint vMatches12) { vectorPoint2f vP1, vP2; // 同上填充匹配点... return findHomography(vP1,vP2,RANSAC,3); }模型选择与运动恢复模型选择基于以下评分公式$$ R_H \frac{S_H}{S_H S_F} $$其中$S_H$和$S_F$分别是单应矩阵和基础矩阵的评分。选择标准为当$R_H 0.4$时选择单应矩阵模型否则选择基础矩阵模型运动恢复通过SVD分解实现核心数学原理如下对于基础矩阵$F$相机运动恢复公式为 $$ E K^T F K $$ 其中$E$为本质矩阵$K$为相机内参矩阵。对于单应矩阵$H$分解公式为 $$ H K (R \frac{tn^T}{d}) K^{-1} $$初始地图创建CreateInitialMapMonocular()函数将成功三角化的点加入地图void Tracking::CreateInitialMapMonocular() { // 创建关键帧 KeyFrame* pKF1 new KeyFrame(mInitialFrame,mpMap,mpKeyFrameDB); KeyFrame* pKF2 new KeyFrame(mCurrentFrame,mpMap,mpKeyFrameDB); // 创建地图点并关联关键帧 for(size_t i0; imvIniMatches.size(); i) { if 生活是一本真实的书记录着每一个重要的篇章愿我们在其中发现属于自己的价值与意义。坚持是梦想中最美的助推器让每一个目标都在不懈努力中变得触手可及描绘出璀璨的未来。理想在手中正如苗圃中的种子只有用心去浇水才能让它在未来开出绚丽的花朵与果实。每个瞬间都是生活赋予我们的馈赠学会将这些转化为动力为实现梦想而不懈努力。人生需要梦想作伴让它成为心灵的灯塔指引我们在黑暗中找到方向迎接光明的未来。 baike.wwxajdf.cn/Article/453562.html baike.sbhmvme.cn/Article/925952.html baike.rxuerfi.cn/Article/847176.html baike.zmsbbpx.cn/Article/088058.html baike.pfqwdbp.cn/Article/041676.html baike.zwqdmat.cn/Article/578391.html baike.upxdxhw.cn/Article/907640.html baike.hjbukew.cn/Article/651583.html baike.atlbfzq.cn/Article/494084.html baike.fswrvxh.cn/Article/659811.html baike.wwxajdf.cn/Article/941061.html baike.sbhmvme.cn/Article/089397.html baike.rxuerfi.cn/Article/286661.html baike.zmsbbpx.cn/Article/843202.html baike.pfqwdbp.cn/Article/776353.html baike.zwqdmat.cn/Article/212314.html baike.upxdxhw.cn/Article/007695.html baike.hjbukew.cn/Article/094081.html baike.atlbfzq.cn/Article/651360.html baike.fswrvxh.cn/Article/229806.html baike.wwxajdf.cn/Article/929493.html baike.sbhmvme.cn/Article/446137.html baike.rxuerfi.cn/Article/494007.html baike.zmsbbpx.cn/Article/426450.html baike.pfqwdbp.cn/Article/733677.html baike.zwqdmat.cn/Article/107550.html baike.upxdxhw.cn/Article/908035.html baike.hjbukew.cn/Article/451468.html baike.atlbfzq.cn/Article/089511.html baike.fswrvxh.cn/Article/761046.html baike.wwxajdf.cn/Article/971388.html baike.sbhmvme.cn/Article/678993.html baike.rxuerfi.cn/Article/131491.html baike.zmsbbpx.cn/Article/177445.html baike.pfqwdbp.cn/Article/206730.html baike.zwqdmat.cn/Article/371693.html baike.upxdxhw.cn/Article/214149.html baike.hjbukew.cn/Article/612202.html baike.atlbfzq.cn/Article/911336.html baike.fswrvxh.cn/Article/720226.html baike.wwxajdf.cn/Article/504846.html baike.sbhmvme.cn/Article/035735.html baike.rxuerfi.cn/Article/496410.html baike.zmsbbpx.cn/Article/484887.html baike.pfqwdbp.cn/Article/675551.html baike.zwqdmat.cn/Article/625129.html baike.upxdxhw.cn/Article/228167.html baike.hjbukew.cn/Article/150630.html baike.atlbfzq.cn/Article/244872.html baike.fswrvxh.cn/Article/975724.html baike.wwxajdf.cn/Article/741077.html baike.sbhmvme.cn/Article/195772.html baike.rxuerfi.cn/Article/789444.html baike.zmsbbpx.cn/Article/232968.html baike.pfqwdbp.cn/Article/720703.html baike.zwqdmat.cn/Article/368391.html baike.upxdxhw.cn/Article/913221.html baike.hjbukew.cn/Article/624369.html baike.atlbfzq.cn/Article/972298.html baike.fswrvxh.cn/Article/760657.html baike.wwxajdf.cn/Article/055175.html baike.sbhmvme.cn/Article/772948.html baike.rxuerfi.cn/Article/363826.html baike.zmsbbpx.cn/Article/331414.html baike.pfqwdbp.cn/Article/588423.html baike.zwqdmat.cn/Article/675169.html baike.upxdxhw.cn/Article/998196.html baike.hjbukew.cn/Article/354346.html baike.atlbfzq.cn/Article/553311.html baike.fswrvxh.cn/Article/551238.html baike.wwxajdf.cn/Article/804156.html baike.sbhmvme.cn/Article/374907.html baike.rxuerfi.cn/Article/044268.html baike.zmsbbpx.cn/Article/117727.html baike.pfqwdbp.cn/Article/171219.html baike.zwqdmat.cn/Article/140435.html baike.upxdxhw.cn/Article/150164.html baike.hjbukew.cn/Article/119281.html baike.atlbfzq.cn/Article/125778.html baike.fswrvxh.cn/Article/667797.html baike.wwxajdf.cn/Article/039726.html baike.sbhmvme.cn/Article/017604.html baike.rxuerfi.cn/Article/540971.html baike.zmsbbpx.cn/Article/676963.html baike.pfqwdbp.cn/Article/193122.html baike.zwqdmat.cn/Article/762119.html baike.upxdxhw.cn/Article/168397.html baike.hjbukew.cn/Article/686863.html baike.atlbfzq.cn/Article/649039.html baike.fswrvxh.cn/Article/392506.html baike.wwxajdf.cn/Article/655796.html baike.sbhmvme.cn/Article/007968.html baike.rxuerfi.cn/Article/273806.html baike.zmsbbpx.cn/Article/610635.html baike.pfqwdbp.cn/Article/417827.html baike.zwqdmat.cn/Article/047208.html baike.upxdxhw.cn/Article/033075.html baike.hjbukew.cn/Article/647290.html baike.atlbfzq.cn/Article/514907.html baike.fswrvxh.cn/Article/246628.html baike.wwxajdf.cn/Article/364308.html baike.sbhmvme.cn/Article/817147.html baike.rxuerfi.cn/Article/500579.html baike.zmsbbpx.cn/Article/289215.html baike.pfqwdbp.cn/Article/624372.html baike.zwqdmat.cn/Article/976621.html baike.upxdxhw.cn/Article/438745.html baike.hjbukew.cn/Article/531781.html baike.atlbfzq.cn/Article/398202.html baike.fswrvxh.cn/Article/893733.html baike.wwxajdf.cn/Article/255972.html baike.sbhmvme.cn/Article/863058.html baike.rxuerfi.cn/Article/221225.html baike.zmsbbpx.cn/Article/680194.html baike.pfqwdbp.cn/Article/281830.html baike.zwqdmat.cn/Article/197240.html baike.upxdxhw.cn/Article/341973.html baike.hjbukew.cn/Article/833350.html baike.atlbfzq.cn/Article/416094.html baike.fswrvxh.cn/Article/750098.html baike.wwxajdf.cn/Article/427521.html baike.sbhmvme.cn/Article/526104.html baike.rxuerfi.cn/Article/095737.html baike.zmsbbpx.cn/Article/539485.html baike.pfqwdbp.cn/Article/511753.html baike.zwqdmat.cn/Article/017622.html baike.upxdxhw.cn/Article/235507.html baike.hjbukew.cn/Article/824168.html baike.atlbfzq.cn/Article/326042.html baike.fswrvxh.cn/Article/421504.html baike.wwxajdf.cn/Article/963726.html baike.sbhmvme.cn/Article/549140.html baike.rxuerfi.cn/Article/819423.html baike.zmsbbpx.cn/Article/745199.html baike.pfqwdbp.cn/Article/558114.html baike.zwqdmat.cn/Article/352090.html baike.upxdxhw.cn/Article/902770.html baike.hjbukew.cn/Article/196452.html baike.atlbfzq.cn/Article/746267.html baike.fswrvxh.cn/Article/138232.html baike.wwxajdf.cn/Article/996853.html baike.sbhmvme.cn/Article/847189.html baike.rxuerfi.cn/Article/839260.html baike.zmsbbpx.cn/Article/463099.html baike.pfqwdbp.cn/Article/076587.html baike.zwqdmat.cn/Article/613770.html baike.upxdxhw.cn/Article/075799.html baike.hjbukew.cn/Article/787829.html baike.atlbfzq.cn/Article/750868.html baike.fswrvxh.cn/Article/337008.html baike.wwxajdf.cn/Article/214245.html baike.sbhmvme.cn/Article/945828.html baike.rxuerfi.cn/Article/094494.html baike.zmsbbpx.cn/Article/048830.html baike.pfqwdbp.cn/Article/803985.html baike.zwqdmat.cn/Article/276713.html baike.upxdxhw.cn/Article/901292.html baike.hjbukew.cn/Article/013129.html baike.atlbfzq.cn/Article/632541.html baike.fswrvxh.cn/Article/122327.html baike.wwxajdf.cn/Article/775407.html baike.sbhmvme.cn/Article/904929.html baike.rxuerfi.cn/Article/846271.html baike.zmsbbpx.cn/Article/354032.html baike.pfqwdbp.cn/Article/154478.html baike.zwqdmat.cn/Article/434626.html baike.upxdxhw.cn/Article/051353.html baike.hjbukew.cn/Article/118043.html baike.atlbfzq.cn/Article/342805.html baike.fswrvxh.cn/Article/099709.html baike.wwxajdf.cn/Article/569923.html baike.sbhmvme.cn/Article/924822.html baike.rxuerfi.cn/Article/698383.html baike.zmsbbpx.cn/Article/162777.html baike.pfqwdbp.cn/Article/819166.html baike.zwqdmat.cn/Article/876047.html baike.upxdxhw.cn/Article/439460.html baike.hjbukew.cn/Article/868977.html baike.atlbfzq.cn/Article/576790.html baike.fswrvxh.cn/Article/384542.html baike.wwxajdf.cn/Article/897608.html baike.sbhmvme.cn/Article/234131.html baike.rxuerfi.cn/Article/286152.html baike.zmsbbpx.cn/Article/901294.html baike.pfqwdbp.cn/Article/471930.html baike.zwqdmat.cn/Article/530308.html baike.upxdxhw.cn/Article/692948.html baike.hjbukew.cn/Article/736918.html baike.atlbfzq.cn/Article/329921.html baike.fswrvxh.cn/Article/973992.html baike.wwxajdf.cn/Article/330123.html baike.sbhmvme.cn/Article/772195.html baike.rxuerfi.cn/Article/059807.html baike.zmsbbpx.cn/Article/923735.html baike.pfqwdbp.cn/Article/059522.html baike.zwqdmat.cn/Article/830077.html baike.upxdxhw.cn/Article/044521.html baike.hjbukew.cn/Article/302327.html baike.atlbfzq.cn/Article/801608.html baike.fswrvxh.cn/Article/810098.html baike.wwxajdf.cn/Article/091118.html baike.sbhmvme.cn/Article/844840.html baike.rxuerfi.cn/Article/574271.html baike.zmsbbpx.cn/Article/985865.html baike.pfqwdbp.cn/Article/400564.html baike.zwqdmat.cn/Article/654305.html baike.upxdxhw.cn/Article/147678.html baike.hjbukew.cn/Article/407235.html baike.atlbfzq.cn/Article/007283.html baike.fswrvxh.cn/Article/671328.html baike.wwxajdf.cn/Article/462519.html baike.sbhmvme.cn/Article/854966.html baike.rxuerfi.cn/Article/758271.html baike.zmsbbpx.cn/Article/395465.html baike.pfqwdbp.cn/Article/180140.html baike.zwqdmat.cn/Article/789488.html baike.upxdxhw.cn/Article/283420.html baike.hjbukew.cn/Article/434218.html baike.atlbfzq.cn/Article/284480.html baike.fswrvxh.cn/Article/800455.html baike.wwxajdf.cn/Article/993491.html baike.sbhmvme.cn/Article/326506.html baike.rxuerfi.cn/Article/786536.html baike.zmsbbpx.cn/Article/203532.html baike.pfqwdbp.cn/Article/279381.html baike.zwqdmat.cn/Article/126312.html baike.upxdxhw.cn/Article/505883.html baike.hjbukew.cn/Article/655435.html baike.atlbfzq.cn/Article/981063.html baike.fswrvxh.cn/Article/919652.html baike.wwxajdf.cn/Article/768656.html baike.sbhmvme.cn/Article/077861.html baike.rxuerfi.cn/Article/389171.html baike.zmsbbpx.cn/Article/918356.html baike.pfqwdbp.cn/Article/722692.html baike.zwqdmat.cn/Article/279714.html baike.upxdxhw.cn/Article/599414.html baike.hjbukew.cn/Article/136540.html baike.atlbfzq.cn/Article/064721.html baike.fswrvxh.cn/Article/744341.html baike.wwxajdf.cn/Article/108042.html baike.sbhmvme.cn/Article/798349.html baike.rxuerfi.cn/Article/430173.html baike.zmsbbpx.cn/Article/606199.html baike.pfqwdbp.cn/Article/051275.html baike.zwqdmat.cn/Article/631932.html baike.upxdxhw.cn/Article/575141.html baike.hjbukew.cn/Article/754275.html baike.atlbfzq.cn/Article/259933.html baike.fswrvxh.cn/Article/346341.html baike.wwxajdf.cn/Article/633471.html baike.sbhmvme.cn/Article/783589.html baike.rxuerfi.cn/Article/303865.html baike.zmsbbpx.cn/Article/416296.html baike.pfqwdbp.cn/Article/351687.html baike.zwqdmat.cn/Article/731603.html baike.upxdxhw.cn/Article/871242.html baike.hjbukew.cn/Article/239277.html baike.atlbfzq.cn/Article/070913.html baike.fswrvxh.cn/Article/851050.html baike.wwxajdf.cn/Article/004719.html baike.sbhmvme.cn/Article/247605.html baike.rxuerfi.cn/Article/815010.html baike.zmsbbpx.cn/Article/986189.html baike.pfqwdbp.cn/Article/170767.html baike.zwqdmat.cn/Article/929503.html baike.upxdxhw.cn/Article/995285.html baike.hjbukew.cn/Article/113460.html baike.atlbfzq.cn/Article/242276.html baike.fswrvxh.cn/Article/835277.html baike.wwxajdf.cn/Article/431924.html baike.sbhmvme.cn/Article/143599.html baike.rxuerfi.cn/Article/518460.html baike.zmsbbpx.cn/Article/283094.html baike.pfqwdbp.cn/Article/754535.html baike.zwqdmat.cn/Article/329169.html baike.upxdxhw.cn/Article/954015.html baike.hjbukew.cn/Article/120396.html baike.atlbfzq.cn/Article/827989.html baike.fswrvxh.cn/Article/054964.html baike.wwxajdf.cn/Article/206794.html baike.sbhmvme.cn/Article/366908.html baike.rxuerfi.cn/Article/882394.html baike.zmsbbpx.cn/Article/797744.html baike.pfqwdbp.cn/Article/106253.html baike.zwqdmat.cn/Article/302504.html baike.upxdxhw.cn/Article/921316.html baike.hjbukew.cn/Article/520989.html baike.atlbfzq.cn/Article/395836.html baike.fswrvxh.cn/Article/061207.html baike.wwxajdf.cn/Article/417651.html baike.sbhmvme.cn/Article/541699.html baike.rxuerfi.cn/Article/114173.html baike.zmsbbpx.cn/Article/643101.html baike.pfqwdbp.cn/Article/845960.html baike.zwqdmat.cn/Article/877641.html baike.upxdxhw.cn/Article/631894.html baike.hjbukew.cn/Article/127131.html baike.atlbfzq.cn/Article/433254.html baike.fswrvxh.cn/Article/259266.html baike.wwxajdf.cn/Article/821278.html baike.sbhmvme.cn/Article/379382.html baike.rxuerfi.cn/Article/207981.html baike.zmsbbpx.cn/Article/393435.html baike.pfqwdbp.cn/Article/391100.html baike.zwqdmat.cn/Article/100271.html baike.upxdxhw.cn/Article/467849.html baike.hjbukew.cn/Article/195330.html baike.atlbfzq.cn/Article/981987.html baike.fswrvxh.cn/Article/116799.html baike.wwxajdf.cn/Article/957185.html baike.sbhmvme.cn/Article/527267.html baike.rxuerfi.cn/Article/065748.html baike.zmsbbpx.cn/Article/535371.html baike.pfqwdbp.cn/Article/088945.html baike.zwqdmat.cn/Article/831174.html baike.upxdxhw.cn/Article/532423.html baike.hjbukew.cn/Article/298036.html baike.atlbfzq.cn/Article/156251.html baike.fswrvxh.cn/Article/879006.html baike.wwxajdf.cn/Article/162520.html baike.sbhmvme.cn/Article/359168.html baike.rxuerfi.cn/Article/580832.html baike.zmsbbpx.cn/Article/349357.html baike.pfqwdbp.cn/Article/637700.html baike.zwqdmat.cn/Article/486735.html baike.upxdxhw.cn/Article/756826.html baike.hjbukew.cn/Article/283305.html baike.atlbfzq.cn/Article/265562.html baike.fswrvxh.cn/Article/869165.html baike.wwxajdf.cn/Article/795233.html baike.sbhmvme.cn/Article/970792.html baike.rxuerfi.cn/Article/166741.html baike.zmsbbpx.cn/Article/880224.html baike.pfqwdbp.cn/Article/477182.html baike.zwqdmat.cn/Article/678256.html baike.upxdxhw.cn/Article/228314.html baike.hjbukew.cn/Article/294959.html baike.atlbfzq.cn/Article/500783.html baike.fswrvxh.cn/Article/119046.html baike.wwxajdf.cn/Article/384062.html baike.sbhmvme.cn/Article/246754.html baike.rxuerfi.cn/Article/365646.html baike.zmsbbpx.cn/Article/674336.html baike.pfqwdbp.cn/Article/768362.html baike.zwqdmat.cn/Article/063780.html baike.upxdxhw.cn/Article/767483.html baike.hjbukew.cn/Article/182227.html baike.atlbfzq.cn/Article/158394.html baike.fswrvxh.cn/Article/494183.html baike.wwxajdf.cn/Article/223544.html baike.sbhmvme.cn/Article/675514.html baike.rxuerfi.cn/Article/239358.html baike.zmsbbpx.cn/Article/799192.html baike.pfqwdbp.cn/Article/105614.html baike.zwqdmat.cn/Article/271232.html baike.upxdxhw.cn/Article/467390.html baike.hjbukew.cn/Article/180233.html baike.atlbfzq.cn/Article/410671.html baike.fswrvxh.cn/Article/354806.html baike.wwxajdf.cn/Article/060737.html baike.sbhmvme.cn/Article/566120.html baike.rxuerfi.cn/Article/595387.html baike.zmsbbpx.cn/Article/367836.html baike.pfqwdbp.cn/Article/150726.html baike.zwqdmat.cn/Article/175795.html baike.upxdxhw.cn/Article/050762.html baike.hjbukew.cn/Article/649547.html baike.atlbfzq.cn/Article/612818.html baike.fswrvxh.cn/Article/079749.html baike.wwxajdf.cn/Article/003018.html baike.sbhmvme.cn/Article/473327.html baike.rxuerfi.cn/Article/396969.html baike.zmsbbpx.cn/Article/333311.html baike.pfqwdbp.cn/Article/007121.html baike.zwqdmat.cn/Article/912304.html baike.upxdxhw.cn/Article/389889.html baike.hjbukew.cn/Article/835005.html baike.atlbfzq.cn/Article/728802.html baike.fswrvxh.cn/Article/988189.html baike.wwxajdf.cn/Article/630241.html baike.sbhmvme.cn/Article/894434.html baike.rxuerfi.cn/Article/325802.html baike.zmsbbpx.cn/Article/498380.html baike.pfqwdbp.cn/Article/544928.html baike.zwqdmat.cn/Article/159280.html baike.upxdxhw.cn/Article/178315.html baike.hjbukew.cn/Article/945958.html baike.atlbfzq.cn/Article/571391.html baike.fswrvxh.cn/Article/730829.html baike.wwxajdf.cn/Article/794622.html baike.sbhmvme.cn/Article/478074.html baike.rxuerfi.cn/Article/947213.html baike.zmsbbpx.cn/Article/446529.html baike.pfqwdbp.cn/Article/511227.html baike.zwqdmat.cn/Article/590566.html baike.upxdxhw.cn/Article/580433.html baike.hjbukew.cn/Article/343877.html baike.atlbfzq.cn/Article/359638.html baike.fswrvxh.cn/Article/598554.html