Odometrie
Odometrie visuel dafay xayma ni kamera bi di doxee ci àdduna bi, di toppu ni nataal bi di soppikoo ci kaadar bu nekk.
Résumé
Dafa am solo ndax dafay may robot yi, drone yi ak aparey AR yi ñu xam fuñu nekk te duñu am GPS, jëfandikoo gis-gis kese.
Plongeur bu xóot
Odometry visuel (VO) dafay xayma tànki kamera yi, tekkiwam ak wëréelam, ci jàngat nataal yu toppalante. Benn pipeline bu sukkandiko ci man-man dafay gis poñ yu am solo yi, méngoo wala topp leen ci biir kadre yi, ba noppi xayma pose relatif ci diggante geometrik bi am ci diggante poñ yiñ méngoo, ba noppi boole yokkute yooyu ci benn trajectoire. Lu moy loolu pexe yu jub yi dañuy wàññi njuumti fotometrik yi (differenci dooley pixel yi) te amul màndarga yu leer. VO mooy front end ci sistem SLAM yu bari, waaye fu SLAM bu mat tabax ak mën toppatoo kart global ak tëjug loop, VO bu leer dafay xoole ci mouvement frame-to-frame. Limu néew doole mooy drift: njuumte yu ndaw ci kadre bu nekk dañuy gëna yokk lu yàgg. VO dafay doxal oto yuy dawal seen bopp, rover planetar, drone ci environmaa yi amul GPS, ak topp kaska ci AR / VR.
Gis-gis xarala
Monocular VO dafay jëlaat yëngu ci matrix essentiel bi, mooy kode geometrie epipolar bi diggante ñaari gis-gis ba noppi di seey ci rotation ak tekki, waaye ba ci scale buñu xamul. Kamera stéréo wala RGB-D dañuy saafara jaxasoo bi ci jëfandikoo liñu xamee ci baseline wala xóotaayu. Sistem yu bari ci jamono jii dañuy boole VO ak IMU (odometrie visuel-inertielle), boole bu baax acceleromètre ak done gyroscope ngir gëna dëgër ci diggante yëngu bu gaaw, texture bu woyof, wala blur buy yëngu.
njeextalu pexe
Gaawaay ak yaatuwaay
Visual IA mën na otomatise saytu, gis ak etiketu liggéey ci eskaal.
Tabax tànneef
Ekipu kreatif yi mën nañu defar konsept yu gëna gaaw te duñu def lu bari ci loxo.
Ekip ak def liggéey
Liggéeyukaay yi mën nañu jëfandikoo siñaal nataal wala wideo yu jafewoon lool ci liggéey.
Ëlëgu odometrie xool
VO mingi jubal ci jàngat ak jegewaale hybrid: reso yu xóot yi xayma xóotaayu, debit optik, ak pose, ba ci tàggat ci anam wu ñuy saytu seen bopp di jëfandikoo gis-gis-synthese consistance. Fusion visuel-inertielle bu gëna dëgër, kamera yiy jàpp coppite yi am ci leeraay bi ci microsecond, ak accelerateur neuronal yi ci aparey yi dañuy puus VO mu gëna am doole ci lëndëm, gaawaay bu rëy, ak seen yu am doole, nekk couche fondamentaal ngir masin yuy demal seen bopp ak ordinatër spatial.
Doxal ci àdduna dëgg
Rover yu Mars yu melni Perseverance dañuy jëfandikoo odometrie ngir mëna topp pëno yi ak doxantu ci suuf te duñu soxla GPS
AR/VR casque topp position bopp ci camera yi ci biir ngir topp 6DoF ci biir ak biti
Dron yi deñuy mëna naaw bu baax ak di daw ci biir kër yi wala ci barab yu amul GPS
Oto yuy dawal seen bopp ak robot yuy boole yëngug kamera ak done IMU ngir mëna tànn diggante yeesali kàrt yi
Risk yi ak balustrade yi
Yelleefi nataal ak nangu mën na nekk risku yoon sudee fi ñu bawoo leerul.
Performance model bi mën na wuute ci leeraay bi, demographie bi ak environmaa bi.
Njuumteg positive yi mën nañu dem te kenn duko seetlu fileek xool wuñu buntu wóolu sa bopp.
Roadmap ngir samp gi
Mandargal kritërium nangug njub, woowaat ak njëgu njuumte.
Saytu ak done yu méngoo ak anam yi ñuy liggéeyee dëgg.
Yokk jàngat nit ngir xam fu wóorul dara wala am njeexital yu rëy.
Toppal model drift bi nga baaxal ko ginaaw bi kamera bi wala done yi soppeekoo.
Weyal di banneexu
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Gis bi ci topp
Tontu ci laaj ak tontu
Laaj yi ñuy faral di laaj
Luy odometrie xool?
Odometrie visuel dafay xayma ni kamera bi di doxee ci àdduna bi, di toppu ni nataal bi di soppikoo ci kaadar bu nekk. Dafa am solo ndax dafay may robot yi, drone yi ak aparey AR yi ñu xam fuñu nekk te duñu am GPS, jëfandikoo gis-gis kese.
Lan mooy njëkka xayma odometrie visuel?
Odometrie visuel dafay topp ni nataal bi di soppeekoo ci diggante kaadar yi ngir xayma pose relatif bi ci kameraa bi, boole leen ci benn trajectoire.
Luy 'derive' ci odometrie visuel?
Ndax VO dafay xayma dem bi ak dikk bi, njuumte yu ndaw yi ci jéego bu nekk dañuy gëna yokk ci diir bi, moo waral yoon wi ñu xayma dem fu sori ci yoonu dëgg bi.
Lan moo waral odométrie visuelle monoculaire di am jafe-jafe ci balans bi?
Lu ko dalee ci benn gis-gis, matrix bi gëna am solo du joxe tekki ludul ci eskaal buñu xamul; stéréo baseline wala xóotaayu kaptër lañu soxla ngir saafara eskaal dëgg.
naka lay def ba odometrie visuel-inertie gëna am doole?
Njaxas xayma yiy yëngu ak natt inertiel dafay jàppale ci diiru yëngu bu gaaw, yëngu bu fësul, wala seen yu am texture bu woyof, fu xool kese di jafe.
Lan moo wuutale odometrie bu leer ak SLAM bu leer?
VO mooy estimatëru yëngu bi ci kanam; SLAM dafay yokk kàrtu global ak tëjug bouclage ngir saafara jafe-jafe yiñ dajale.