A SLAM Map Restoration Algorithm Based on Submaps and an Undirected Connected Graph

29 Jul 2020 Zongqian Zhan Wenjie Jian Yi-Hui Li Xin Wang Yang Yue

Many visual simultaneous localization and mapping (SLAM) systems have been shown to be accurate and robust, and have real-time performance capabilities on both indoor and ground datasets. However, these methods can be problematic when dealing with aerial frames captured by a camera mounted on an unmanned aerial vehicle (UAV) because the flight height of the UAV can be difficult to control and is easily affected by the environment.To cope with the case of lost tracking, many visual SLAM systems employ a relocalization strategy... (read more)

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