mono visual SLAM tightly coupled with IMU and Wheels

• Initialization conbined with Mono, IMU and wheels.

• Tracking and Mapping using sliding window.

1.Panoramic SLAM from a multiple fisheye camera rig based on direcr method (In charge / under research)

• The camera model of DSO is modified and the parameter setting of photometric affine transformation is adjusted

• The photometric error function and Jacobian matrix of panoramic imaging are derived

• Spherical epipolar search, spherical coordinate inverse depth update formula derivation

code

2.Calibration of internal and external parameters for multiple fisheye camera rig(In charge)

• The general camera model and isometric projection model are used to calibrate the internal parameters of the single fish eye camera

• Three dimensional calibration field is used to calibrate multi camera external parameters, and Ceres is used to optimize internal and external parameters

code

3.Panoramic SLAM from a multiple fisheye camera rig based on indirecr method(participate in)

• Responsible for the derivation of spherical EPNP formula and spherical Jacobian matrix

• Responsible for g2o part of custom nodes and edges, back-end optimization part

code

4.Matlab toolkit for geodetic coordinate transformation(In charge)

• Complete the conversion tool including geodetic coordinate system, geographic coordinate system and projection coordinate system

• Complete simple traverse adjustment and leveling network adjustment program

• Complete settlement rank defect free network adjustment and gross error detection

code

5.Design of geodetic city / mining area independent coordinate system

• Accurately set the action area of design coordinate system

• The design of independent coordinate system is better than 1/80000 to meet the requirements of comprehensive deformation measurement in * * coal mine

• The design coordinate system adopts equiangular projection

code

6.Analysis of geological hazards in Taiyuan City

• The influence factors are rasterized and reclassified, and finally weighted superimposed

• ArcGIS software is used to build the model, generate the analysis result map and make quantitative statistics