Keyframe Selection with Information Occupancy Grid Model for Long-term Data Association
Weinan Chen,Hanjing Ye,Lei Zhu,Chao Tang,Changfei Fu,Yonggang Chen,Hong Zhang,Weinan Chen,Hanjing Ye,Lei Zhu,Chao Tang,Changfei Fu,Yonggang Chen,Hong Zhang
As the basics of Visual Simultaneous Localization And Mapping (VSLAM), keyframes play an essential role. In previous works, keyframes are selected according to a series of view change-based strategies for short-term data association (STDA). However, the texture enrichment of frames is always ignored, resulting in the failure of long-term data association (LTDA). In this paper, we propose an inform...
