Artificial Intelligence and Machine Vision

ORB-SLAM - Uses   - Bundle Adjustment   - ORB features [9]   - A pose graph      - Essential graph      - a spanning tree        - loop closure links        - strong edges        - from covisibility graph   - covisibliity graph     - local covisible area     - tracking and mapping - mar point and keyframe selection   - generous spawning   - restrictive culling   - identify redundant keyframes   - improves robustness and lifelong operations - Stores map points:   - 3D position X(w,i) in the world coordinate system   - the viewing direction n(i)     - the mean unit vector of all its viewing directions     - the ray that joint the point with the optical center of the keyframe  - A representative ORB descriptor D(i)     - the associated ORB descriptor whose hamming distance is minimum       with respect to all other associated descriptors in the keyframes       in which the point is observed.  - the maximum d(max)  - the minimum d(min) distance     - a