The"World Tourism Alliance(WTA)·Xianghu Dialogue 2020"was held in Hangzhou,Zhejiang Province,China from November 13 to 14,2020.Themed"Shaping the Future:Re
Weifang New Year's paintings are well known,not only Yangjiabu woodcut New Year paintings,but also Gaomi New Year paintings,Linqu hand-painted New Year'
针对基于图优化的激光SLAM算法在高相似度的场景中闭环检测出错的问题,提出使用双目相机进行闭环检测的方法。使用加入旋转不变性的FAST特征点和BRIEF描述子进行双目深度估计;引入局部地图的概念,使用单帧激光雷达数据与局部地图进行匹配,提高SLAM前端的精度。使用基于词袋(bag of words,BOW)模型的k叉树字典评估图片相似度从而完成闭环检测,最后构建全局优化问题并求解。与主流开源激光雷