package
SLAM.Localization
Calibrated relative RGB-D localization and navigation interfaces
From image pairs to pose observations
This layer joins feature processing and calibrated registration into visual observations. Start with ObserveRGBDRelativeFrame for relative-frame processing and RGBDInertialLocalizationInterface for the persistent localization boundary.
RGBDRegistrationUncertainty propagates point noise around the accepted fit. Its covariance is conditional on the correspondences and reference assumptions; it does not automatically include map uncertainty or shared-IMU correlation. Check validity and rejection outputs before forwarding an observation to a filter.
Optical coordinates, body FLU coordinates and world ENU coordinates are separate frames. Preserve calibration, camera extrinsics, capture time and reference identity when adapting an observation.
Members
| Name | Kind | Description |
|---|---|---|
| AdvanceFastRGBDLocalization | function | |
| AdvanceRGBDLocalization | function | |
| InitializeFastRGBDLocalization | function | |
| InitializeRGBDLocalization | function | |
| ObserveRGBDRelativeFrame | function | |
| RGBDFastInertialLocalizationInitialize | model | |
| RGBDFastInertialLocalizationStep | model | |
| RGBDInertialLocalizationInitialize | model | |
| RGBDInertialLocalizationInterface | model | |
| RGBDInertialLocalizationStep | model | |
| RGBDLocalizationCatalog | package | |
| RGBDLocalizationFrame | package | |
| RGBDLocalizationOrientation | model | |
| RGBDLocalizationProcessing | package | |
| RGBDLocalizationTracking | function | |
| RGBDOpticalPointCovariance | function | |
| RGBDProperRotation | model | |
| RGBDProperRotationValue | function | |
| RGBDRegistrationSandwich | function | |
| RGBDRegistrationUncertainty | model | |
| RGBDRelativeBodyPose | function | |
| RGBDRelativePose | model | |
| RGBDUncertaintyInverse6 | function | |
| RGBDUncertaintyProper | function | |
| RGBDUncertaintySkew | function | |
| RGBDVisualObservation | model | |
| RGBDVisualRelativeObservation | model |
Modelica declarations and implementation
Show parameters, interfaces and source
Parameters, inputs, outputs, defaults and equations from the source file.
package Localization
"Calibrated relative RGB-D localization and navigation interfaces"
annotation(Documentation(info = "<html>
<h4>From image pairs to pose observations</h4>
<p>This layer joins feature processing and calibrated registration into visual
observations. Start with
<a href=\"modelica://SLAM.Localization.ObserveRGBDRelativeFrame\">ObserveRGBDRelativeFrame</a>
for relative-frame processing and
<a href=\"modelica://SLAM.Localization.RGBDInertialLocalizationInterface\">RGBDInertialLocalizationInterface</a>
for the persistent localization boundary.</p>
<p><a href=\"modelica://SLAM.Localization.RGBDRegistrationUncertainty\">RGBDRegistrationUncertainty</a>
propagates point noise around the accepted fit. Its covariance is conditional
on the correspondences and reference assumptions; it does not automatically
include map uncertainty or shared-IMU correlation. Check validity and rejection
outputs before forwarding an observation to a filter.</p>
<p>Optical coordinates, body FLU coordinates and world ENU coordinates are
separate frames. Preserve calibration, camera extrinsics, capture time and
reference identity when adapting an observation.</p>
</html>"));
end Localization;