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ORB-SLAM是基于特征的单目SLAM,他可以适应室内室外大小场景,相机也可以比较自由运动,同样只在发现场景内容变化时才更新内容,减少开销。效果比较好,代码也开放了,建议跑一下感受一下,以期后续开发。
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ORB主要借鉴了PTAM的思想,借鉴的工作主要有Rubble的ORB特征点;DBow2的place recognition用于闭环检测;Strasdat的闭环矫正和covisibility graph思想;以及Kuemmerle和Grisetti的g2o用于优化。
他选择了ORB作为特征,在于其良好的旋转不变性,以及快速匹配效果,可以和BA很好的结合。
Contributions(贡献):
1) Use of the same features for all tasks (ORB)
2) Real-time operation in large environments(在大图中独立使用小图)
3) Real-time loop closing based on the optimization of a pose graph
4) Real-time camera relocalization with significant invari-ance to viewpoint and illumination.
5) A new automatic and robust initialization procedure based on model selection that permits to create an initial map of planar and nonplanar scenes.
6) A survival of the fittest approach to