The trajectories and sparse reconstruction of the sequences with multiple loop closures.

The trajectories and sparse reconstruction of the sequences with multiple loop closures.

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This paper presents a system that combines robotic operating system (ROS) and computer vision techniques for fire detection in a mixed reality environment. We have collected video streams from a mini camera on an Unmanned Aerial Vehicle (UAV), where the navigation data relied on state-of-the-art Simultaneous Localization and Mapping (SLAM) system....

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... memory requirements. We use BA as the back-end to detect and estimate poses and keypoint matches over the previous frames. We adopted BA for re-localisation and loop closure in order to correct the accumulated drifts over the history of frames. In BA approach the lack of marginalisation means that elements will remain sparsely inter-connected. Fig. 3 shows three SLAMs with camera location, KeyFrames, the local mapping (in red and black dots), loop closure and Covisibility using Monocular Visual Odometry Datasets. ...

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