视觉 SLAM

视觉同时定位与地图构建：基于特征和直接法、回环检测、关键帧选择和 ROS 集成。

Learning Objectives

1. SLAM Overview

1.1 Localization vs. Mapping

1.2 Why Visual SLAM?

2. Feature-Based Visual SLAM

2.1 ORB Features

2.2 Map Points & Keyframes

2.3 Pose Graph Optimization

3. Direct Methods

3.1 LSD-SLAM

3.2 DSO (Direct Sparse Odometry)

4. Loop Closure

4.1 Bag of Words (DBoW2)

4.2 Pose Graph Correction

5. Modern Visual SLAM Systems

5.1 ORB-SLAM3

5.2 VINS-Fusion

5.3 RTAB-Map

6. Visual SLAM in ROS 2

7. Comparison Table

Exercises

References