package
SLAM.LoopClosure
Keyframe selection, retrieval and geometric loop verification
Retrieve, then verify
Keyframes retain descriptors, calibrated geometry and measured image identity. RGBDKeyframePolicy controls capture; RGBDKeyframeRetrieval finds candidates through visual words; and RGBDLoopVerification checks geometry before a loop is accepted.
A descriptor similarity is a retrieval score, not a pose constraint. Graph edges require measured relative geometry and its uncertainty. Preserve frame generations and identities so a reused storage slot cannot masquerade as an old observation. Integration into a particular application must explicitly connect capture, retrieval, verification and graph insertion.
Members
| Name | Kind | Description |
|---|---|---|
| NormalizeVisualWord | function | |
| RGBDBagOfWords | model | |
| RGBDBodyRelativeEdge | model | |
| RGBDCatalogLoopVerification | package | |
| RGBDKeyframePolicy | package | |
| RGBDKeyframeRetrieval | package | |
| RGBDKeyframes | package | |
| RGBDLoopVerification | package | |
| RGBDOpticalToBodyEdge | function | |
| RGBDVisualVocabulary | package | |
| RetrieveVisualWords | function |
Modelica declarations and implementation
Show parameters, interfaces and source
Parameters, inputs, outputs, defaults and equations from the source file.
package LoopClosure
"Keyframe selection, retrieval and geometric loop verification"
annotation(Documentation(info = "<html>
<h4>Retrieve, then verify</h4>
<p>Keyframes retain descriptors, calibrated geometry and measured image identity.
<a href=\"modelica://SLAM.LoopClosure.RGBDKeyframePolicy\">RGBDKeyframePolicy</a>
controls capture; <a href=\"modelica://SLAM.LoopClosure.RGBDKeyframeRetrieval\">RGBDKeyframeRetrieval</a>
finds candidates through visual words; and
<a href=\"modelica://SLAM.LoopClosure.RGBDLoopVerification\">RGBDLoopVerification</a>
checks geometry before a loop is accepted.</p>
<p>A descriptor similarity is a retrieval score, not a pose constraint. Graph
edges require measured relative geometry and its uncertainty. Preserve frame
generations and identities so a reused storage slot cannot masquerade as an
old observation. Integration into a particular application must explicitly
connect capture, retrieval, verification and graph insertion.</p>
</html>"));
end LoopClosure;