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METHOD FOR REMOVING LINE OF INTERNAL STRUCTURE FOR IMPLEMENTATION OF CEILING VISION-BASED SLAM ALGORITHM
METHOD FOR REMOVING LINE OF INTERNAL STRUCTURE FOR IMPLEMENTATION OF CEILING VISION-BASED SLAM ALGORITHM
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机译：实施基于天花板视觉的SLAM算法的内部结构线去除方法
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摘要
PURPOSE: A method for removing a line of an internal structure for a ceiling vision-based SLAM(Simultaneous Localization And Mapping) algorithm is provided to distinguish the line of the internal structure from walls and ceiling areas when the ceiling vision-based SLAM(Simultaneous Localization And Mapping) algorithm is implemented, thereby removing the distinguished line. CONSTITUTION: First and second motion vectors are obtained. The first motion vector shows movement of a ceiling area feature point. The second motion vector shows movement of a boundary line feature point. The first motion vector is compared with the second motion vector. When the first motion vector is different from the second motion vector(e), a boundary line is determined as a boundary line by an internal structure and is removed(f).
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