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In the real-life environments, due to the sudden appearance of windows, lights, and objects blocking the light source, the visual SLAM system can easily capture the low-contrast images caused by over-exposure or over-darkness. At this time, the direct method of estimating camera motion based on pixel luminance information is infeasible, and it is often difficult to find enough valid feature points without image processing. This paper proposed HE-SLAM, a new method combining histogram equalization and ORB feature extraction, which can be robust in more scenes, especially in stages with low-contrast images. Because HE-SLAM uses histogram equalization to improve the contrast of images, it can extract enough valid feature points in low-contrast images for subsequent feature matching, keyframe selection, bundle adjustment, and loop closure detection. The proposed HE-SLAM has been tested on the popular datasets (such as KITTI and EuRoc), and the real-time performance and robustness of the system are demonstrated by comparing system runtime and the mean square root error (RMSE) of absolute trajectory error (ATE) with state-of-the-art methods like ORB-SLAM2.
As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data association tasks a
An accurate and computationally efficient SLAM algorithm is vital for modern autonomous vehicles. To make a lightweight the algorithm, most SLAM systems rely on feature detection from images for vision SLAM or point cloud for laser-based methods. Fea
This work proposes a novel SLAM framework for stereo and visual inertial odometry estimation. It builds an efficient and robust parametrization of co-planar points and lines which leverages specific geometric constraints to improve camera pose optimi
This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an original object oriented architecture, that allows the combination of numero
Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce consistent maps of an environment over time. Contrarily to urban or man-