ORBSLAM-Atlas: a robust and accurate multi-map system论文阅读笔记
文章目录 一、Atlas 多地图的表示 1.1 Atlas（地图集） 1.2 新地图创建标准 1.3 相机位姿可观测性 1.4 在多地图中的重定位 二、无缝的地图拼接 一、Atlas 多地图的表示 1.1 Atlas（地图集） Atlas(地图集)（图1）由几乎无限数量的地图组成，每个地图都有自己的关键帧、地图点、共视图和生成树。每个地图参考帧固定在建立这个地图时的第一个相机中，并且它独立于ORB
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