<?xml version="1.0" encoding="utf-8" ?><rss version="2.0"><channel><title><![CDATA[floatinglong的博客]]></title><description><![CDATA[]]></description><link>https://blog.youkuaiyun.com/floatinglong</link><language>zh-cn</language><generator>https://blog.youkuaiyun.com/</generator><copyright><![CDATA[Copyright &copy; floatinglong]]></copyright><item><title><![CDATA[视觉SLAM实践入门——（20）视觉里程计之直接法]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/117407622</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/117407622</guid><author>floatinglong</author><pubDate>Mon, 07 Jun 2021 02:40:12 +0800</pubDate><description><![CDATA[啊
]]></description><category></category></item><item><title><![CDATA[视觉SLAM实践入门——（19）视觉里程计之多层光流法（光流金字塔）]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/117407407</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/117407407</guid><author>floatinglong</author><pubDate>Sun, 30 May 2021 23:04:01 +0800</pubDate><description><![CDATA[对于单层光流法，

多层光流法基于图像金字塔，通过对上层图像使用光流法得到估计值，再将估计值反馈到下层作为计算的初始值，从而解决单层光流法无法估计较大运动等问题
]]></description><category></category></item><item><title><![CDATA[视觉SLAM实践入门——（18）视觉里程计之单层光流法]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/117174576</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/117174576</guid><author>floatinglong</author><pubDate>Sun, 30 May 2021 22:45:36 +0800</pubDate><description><![CDATA[编译本节代码需要使用 opencv4，安装和使用的注意事项参考https://blog.youkuaiyun.com/floatinglong/article/details/117173740



对于下面这种找不到CV_GRAY2BGR 的错误，原因在于新版的 opencv 修改了它的名字


error: ‘COLOR_GRAY2BGR’ was not declared in this scope

将代码中的C...]]></description><category></category></item><item><title><![CDATA[视觉SLAM理论入门——（10）视觉里程计之光流和直接法]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/117222386</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/117222386</guid><author>floatinglong</author><pubDate>Mon, 24 May 2021 16:24:42 +0800</pubDate><description><![CDATA[1、特征点法的缺点

特征点法具有以下缺点：

1、关键点的提取与描述子的计算非常耗时

2、特征点的数量远小于图像像素数量，只使用特征点丢弃了大部分可能有用的图像信息

3、相机有时会运动到特征缺失的地方，往往这些地方没有明显的纹理信息，从而使得特征点数目减少，无法估计运动



克服特征点法缺点的思路：

1、只计算关键点，不计算描述子。使用光流法跟踪特征点的运动，回避计算和匹配描述子带来的时间

2、只计算关键点，不计算描述子。使用直接法计算特征点在下一时刻图像的位置

3、不使用特征点，而是根据像.]]></description><category></category></item><item><title><![CDATA[ubuntu中安装另一个版本的opencv]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/117173740</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/117173740</guid><author>floatinglong</author><pubDate>Sun, 23 May 2021 00:11:36 +0800</pubDate><description><![CDATA[cmake 时指定安装路径


cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..

安装后，opencv 位于 /usr/local/includeopencv-2.4.13 中

使用时，在 CMakeLists.txt 中指定opencv库目录


set(CMAKE_PREFIX_PATH "/usr/local/includeopencv-2.4.13/")




...]]></description><category></category></item><item><title><![CDATA[视觉SLAM实践入门——（17）使用非线性优化方法求解ICP]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/116279957</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/116279957</guid><author>floatinglong</author><pubDate>Sat, 22 May 2021 16:17:59 +0800</pubDate><description><![CDATA[啊
]]></description><category></category></item><item><title><![CDATA[视觉SLAM实践入门——（16）使用SVD求解ICP]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/116279933</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/116279933</guid><author>floatinglong</author><pubDate>Fri, 21 May 2021 23:29:22 +0800</pubDate><description><![CDATA[啊
]]></description><category></category></item><item><title><![CDATA[视觉SLAM理论入门——（9）视觉里程计之特征点法—ICP]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/116279680</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/116279680</guid><author>floatinglong</author><pubDate>Fri, 21 May 2021 17:18:50 +0800</pubDate><description><![CDATA[ICP用于解决3D-3D的位姿估计问题。
]]></description><category></category></item><item><title><![CDATA[视觉SLAM实践入门——（15）使用g2o求解PnP]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/116279902</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/116279902</guid><author>floatinglong</author><pubDate>Fri, 21 May 2021 00:58:48 +0800</pubDate><description><![CDATA[啊
]]></description><category></category></item><item><title><![CDATA[视觉SLAM实践入门——（14）高斯牛顿法求解PnP]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/116279884</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/116279884</guid><author>floatinglong</author><pubDate>Thu, 20 May 2021 17:25:52 +0800</pubDate><description><![CDATA[啊
]]></description><category></category></item><item><title><![CDATA[视觉SLAM实践入门——（13）使用OpenCV的EPnP求解PnP]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/116279868</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/116279868</guid><author>floatinglong</author><pubDate>Wed, 19 May 2021 23:41:39 +0800</pubDate><description><![CDATA[啊
]]></description><category></category></item><item><title><![CDATA[视觉SLAM实践入门——（12）三角测量]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/116279836</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/116279836</guid><author>floatinglong</author><pubDate>Tue, 18 May 2021 00:47:02 +0800</pubDate><description><![CDATA[啊
]]></description><category></category></item><item><title><![CDATA[视觉SLAM实践入门——（11）用对极约束求解相机运动]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/116279786</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/116279786</guid><author>floatinglong</author><pubDate>Mon, 17 May 2021 19:08:16 +0800</pubDate><description><![CDATA[啊
]]></description><category></category></item><item><title><![CDATA[视觉SLAM理论入门——（8）视觉里程计之特征点法—PnP]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/116279662</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/116279662</guid><author>floatinglong</author><pubDate>Sun, 16 May 2021 22:18:01 +0800</pubDate><description><![CDATA[PnP是求解3D到2D点对运动的方法








]]></description><category></category></item><item><title><![CDATA[视觉SLAM理论入门——（7）视觉里程计之特征点法—对极几何]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/116279588</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/116279588</guid><author>floatinglong</author><pubDate>Sat, 15 May 2021 22:17:50 +0800</pubDate><description><![CDATA[当采用单目相机，只知道2D像素坐标，需要根据两组2D点估计运动，这时用到了对极几何



1、对极约束



2、本质矩阵



3、单应矩阵




]]></description><category></category></item><item><title><![CDATA[视觉SLAM实践入门——（10）特征提取和匹配（修复源码中的段错误bug）]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/116279765</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/116279765</guid><author>floatinglong</author><pubDate>Sat, 15 May 2021 18:38:32 +0800</pubDate><description><![CDATA[啊
]]></description><category></category></item><item><title><![CDATA[视觉SLAM实践入门——（9）曲线拟合之g2o库]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/116159431</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/116159431</guid><author>floatinglong</author><pubDate>Sat, 15 May 2021 16:46:16 +0800</pubDate><description><![CDATA[123
]]></description><category></category></item><item><title><![CDATA[视觉SLAM实践入门——（8）使用Ceres库进行曲线拟合]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/116279725</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/116279725</guid><author>floatinglong</author><pubDate>Thu, 13 May 2021 18:12:36 +0800</pubDate><description><![CDATA[11
]]></description><category></category></item><item><title><![CDATA[为WSL的ubuntu子系统安装图形化界面]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/116462449</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/116462449</guid><author>floatinglong</author><pubDate>Thu, 06 May 2021 20:43:12 +0800</pubDate><description><![CDATA[WSL只提供黑窗口登录功能，为了使用gui，需要安装gui并且使用远程连接的方式登录

更新源


sudo apt-get update


安装xorg


sudo apt-get install xorg

安装xfce4


sudo apt-get install xfce4

安装xrdp


sudo apt-get install xrdp

设置端口


sudo sed -i 's/port=3389/port=3390/g' /etc/xrdp/xrdp.ini

设置xsessio]]></description><category></category></item><item><title><![CDATA[视觉SLAM理论入门——（6）视觉里程计之特征点法—特征点]]></title><link>https://blog.youkuaiyun.com/floatinglong/article/details/116277741</link><guid>https://blog.youkuaiyun.com/floatinglong/article/details/116277741</guid><author>floatinglong</author><pubDate>Fri, 30 Apr 2021 00:22:31 +0800</pubDate><description><![CDATA[一个SLAM系统可以分为前端和后端，其中前端称为视觉里程计，其作用是根据相邻图像的信息估计出粗略的相机运动，给后端提供较好的初始值

视觉里程计的算法主要有两大类：特征点法（主流方法）、直接法



1、特征点

视觉里程计的核心问题是根据图像估计相机运动。特征点法是从各个图像中选取相同的有代表性的点（相机视角发生少量变化时，这些点保持不变），在这些点的基础上讨论相机位姿估计问题以及这些点的定位问题。在经典SLAM模型中，这些点是路标；在视觉SLAM中，这些点是图像特征

数字图像在计算机中以灰度值...]]></description><category></category></item></channel></rss>