Deep SLAM
• 画像からDepth推定
Huangying Zhan, Chamara Saroj Weerasekera, Jia-Wang Bian, Ravi Garg, Ian Reid, “DF-VO: What Should Be Learnt for Visual Odometry?,” arXiv, 2020.
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Deep SLAM
• 特徴点抽出やマッチングの機能をDeep化
P. Sarlin, D. DeTone, T. Malisiewicz and A. Rabinovich, “SuperGlue: Learning Feature Matching with Graph Neural Networks,” Conference on Computer Vision and Pattern Recognition (CVPR), 2020.
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Deep SLAM
• End-to-End(2枚の画像を入力すると自己位置推定結果が出力される)の学習モデル
W. Wang, Y. Hu and S. Scherer, “TartanVO: A Generalizable Learning-based VO,” Conference on Robot Learning (CoRL), 2020.