Odometrie igaragara
Visual odometry igereranya uburyo kamera igenda kwisi ikurikirana uko ishusho ihindura ikadiri.
Incamake
It matters because it lets robots, drones, and AR devices know their position without GPS, using vision alone.
Kwibira cyane
Visual odometry (VO) igenda igereranya buhoro buhoro icyerekezo cya kamera, ibisobanuro byayo no kuzunguruka, ukoresheje amashusho akurikirana. Umuyoboro-shingiro-umuyoboro utahura urufunguzo, guhuza cyangwa kubikurikirana hejuru yamakadiri, kandi ugereranya ishusho iva mumibanire ya geometrike hagati yingingo zihuye, hanyuma ikomatanya ibyo byiyongereye muburyo. Uburyo butaziguye ahubwo kugabanya ikosa rya fotometrike (pigiseli ubukana butandukanye) nta biranga bigaragara. VO ni impera yimbere ya sisitemu nyinshi za SLAM, ariko aho SLAM yuzuye yubaka kandi igakomeza ikarita yisi yose hamwe no gufunga loop, VO isanzwe yibanda kumurongo wimiterere-kumurongo. Intege nke zayo ziratemba: amakosa mato kuri kadamu yegeranya mugihe. VO iha imbaraga imodoka zitwara, roveri yimibumbe, drone mubidukikije byangiwe na GPS, hamwe no gukurikirana na AR / VR.
Ubushishozi
Monocular VO igarura icyerekezo kiva muri matrix yingenzi, igizwe na epipolar geometrie hagati yibitekerezo bibiri ikabora ikazunguruka no guhinduranya, ariko kugeza ku gipimo kitazwi. Kamera ya Stereo cyangwa RGB-D ikemura icyo gipimo kidasobanutse ukoresheje ibyingenzi bizwi cyangwa ubujyakuzimu. Sisitemu nyinshi zigezweho zihuza VO na IMU (visual-inertial odometry), igahuza cyane umuvuduko wa moteri na giroskopi kugirango urusheho gukomera mugihe cyihuta, cyoroshye, cyangwa icyerekezo.
Ingaruka z'Ingamba
Umuvuduko n'igipimo
AI igaragara irashobora gukora igenzura, gutahura, no gutondekanya imirimo kurwego.
Build choices
Amakipe arema arashobora prototype ibitekerezo byihuse hamwe nintoki nkeya.
Itsinda hamwe nakazi
Ibikorwa birashobora gukoresha amashusho nibimenyetso bya videwo byari bigoye gutunganya.
Kazoza ka Visual Odometry
Ijwi rigenda ryerekeza kuburyo bwize kandi buvanze: imiyoboro yimbitse igereranya ubujyakuzimu, urujya n'uruza rwiza, ndetse no kwifotoza, ndetse no kwitoza muburyo bwo kwiyobora ukoresheje kureba-guhuza ibitekerezo. Fusion visual-inertial fusion, kamera yibyabaye ifata urumuri rwa microsecond ihinduka, hamwe na moteri yihuta yibikoresho byihuta bigenda bisunika VO kugana imbaraga zikomeye mumwijima, umuvuduko mwinshi, hamwe nimbaraga zikomeye, bigahinduka urufatiro rwimashini zigenga no kubara ahantu.
Gushyira mu bikorwa Isi
Imashini ya Mars nka Kwihangana ukoresheje odometrie igaragara kugirango ikurikirane kunyerera kandi igendere ahantu hatari GPS
Umutwe wa AR / VR ukurikirana umwanya uva kuri kamera yububiko kugirango imbere-hanze 6DoF ikurikirane
Indege zitagira abadereva zikomeza kuguruka no kugendagenda mu nzu cyangwa muri GPS-yanze ibidukikije
Imodoka yikorera wenyine hamwe na robo ihuza kamera kamera hamwe namakuru ya IMU kugirango uhindure hagati yikarita
Ingaruka & Kurinda
Uburenganzira bwishusho hamwe no kwemererwa birashobora guhinduka ibyago byemewe n'amategeko niba ibimenyetso bidasobanutse.
Imikorere yicyitegererezo irashobora gutandukana kumurika, demografiya, nibidukikije.
Ibyiza byibinyoma birashobora kutamenyekana keretse niba ibyiringiro byateganijwe bikurikiranwa.
Igishushanyo mbonera
Sobanura ibipimo byo kwemererwa kugiciro, kwibutsa, nibiciro byamakosa.
Gerageza hamwe namakuru ajyanye nuburyo nyabwo bwo gukora.
Ongeraho isubiramo ryabantu kubwizere buke cyangwa guhanura cyane.
Kurikirana icyitegererezo cya drift hanyuma uhindurwe nyuma ya kamera cyangwa dataset ihinduka.
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What is Visual Odometry?
Visual odometry igereranya uburyo kamera igenda kwisi ikurikirana uko ishusho ihindura ikadiri. Nibyingenzi kuko ireka robot, drone, nibikoresho bya AR bikamenya umwanya wabyo nta GPS, ukoresheje iyerekwa ryonyine.
Ni ubuhe buryo bwa odometrie bugereranya?
Visual odometry ikurikirana uburyo ishusho ihinduka hagati yamakaramu kugirango igereranye kamera ifitanye isano, ibohesheje inzira.
Niki 'drift' muri odometrie igaragara?
Kuberako VO igereranya kugenda gahoro gahoro, amakosa mato muri buri ntambwe ikomatanya mugihe, bigatuma inzira igereranijwe itandukana ninzira nyayo.
Kuki monocular visual odometry ibabazwa nubunini budasobanutse?
Uhereye kumurongo umwe wo kureba, matrix yingenzi itanga ibisobanuro kugeza kurwego rutazwi; stereo baseline cyangwa ibyuma byimbitse birakenewe kugirango bikemuke igipimo nyacyo.
Nigute visual-inertial odometry itezimbere imbaraga?
Gukomatanya ibishushanyo mbonera byerekanwe hamwe n'ibipimo bitagira ingano bifasha mugihe cyihuta, kugenda nabi, cyangwa ibintu bito cyane aho iyerekwa ryonyine rirwanira.
Nigute bigaragara neza odometrie itandukanye na SLAM yuzuye igaragara?
VO mubusanzwe igereranya ryimbere-iherezo; SLAM yongeyeho ikarita yisi yose hamwe no gufunga loop kugirango ikosore drift yegeranijwe.