sohee-zoe/2020-Visual-SLAM-Seminar

2020-FW-Visual-SLAM-Seminar

Visual SLAM

Feature

Extractor & Descriptor

• Harris
• SIFT
• SURF
• FAST
• ORB
• LIFT
• SuperPoint

Outlier Removal

• RANSAC (SAC - world)
• GMS
• LFGC
• LMR
• SuperGlue

Odometry

• Pose estimation: Homography Decomp, Epipolar Decomp.
• Triangulation: Direct Linear Transformation
• SfM: Affine camera, Projective Camera

Mapping

• P3P
• OctoMap
• TSDF
• Point Cloud Registration: ICP

Optimization

• Lie theory
• Bundle Adjustment
• Graph Optimization

Relocalization

• Bag-of-Visual-Word(BoVW)
• NetVLAD

Seminar

1. Visual Odeometry (Presenter MW Shin)

• Keyword: 2D-2D, Motion Estimation, Feature Detection, Tracking, Matching, Decomposition.

2. Feature Processing(Gradient-based) (Presenter SH LIM)

• Keyword: SIFT, SURF

3. Feature Processing(Intensity-based) (Presenter JH Han)

• Keyword: FAST, BRIEF, ORB

4. Bundle Adjustment (Presenter MW Shin)

• Keyword: Lie theory, Perturbation model, Levenberg-Marquardt