通过 vslam 预订
我正在寻找一本描述和实现一些单目/视觉 SLAM 的书。
您能列出并推荐一些吗？
我想使用 OpenCV 但这不是必需的。
I am looking for a book where some monocular/visual SLAM is described and implemented.
Can you list and recommend some?
I'd like to use OpenCV but that is not a requirement.
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我不知道有哪本书描述过这种算法，但有一个 vslam 系统的完整开源实现（用 C++ 实现）可作为机器人操作系统的一部分。它使用 SURF 描述符和词汇树进行位置识别，并使用 SLAM 进行捆绑调整。它确实大量使用 OpenCV，因为它是由同一个人制作的。请参阅网站此处。我不能肯定地说，因为他们没有提到，而且我也没有没有详细查看，但它们的实现似乎基于或至少类似于 这篇论文。
编辑：上面链接的论文实际上是由实现上面给出的 vslam 系统的人撰写的。所以它绝对是理解它的一个很好的资源。
I don't know of a book with a description of such an algorithm, but there's a complete open source implementation (in C++) of a vslam system available as part of the Robot Operating System. It uses SURF descriptors and vocabulary trees for place recognition, and bundle adjustment for SLAM. It does use OpenCV heavily as it's made by the same people. See the website here. I can't say for sure as they don't mention and I haven't looked in great detail, but their implementation seems to be based on, or at least is similar to, this paper.
Edit: The paper linked above was actually written by the people who implemented the vslam system given above, it appears. So it is definitely a good resource for understanding it.
我不知道一本书，但也许 PTAM 可能有用。 Klein 的 ISMAR 2007 论文 对系统和源代码进行了描述可用，因此您可以查看详细信息。
当然，PTAM只是SLAM领域的一个（好的）方法。
I don't know about a book, but maybe PTAM can be useful. The ISMAR 2007 paper by Klein has a description about the system and the source code is available so you can check the details.
Of course, PTAM is just a (good) method in the SLAM field.