Samsung Electronics Co., Ltd.

Xiongfeng Peng

Hongseok Lee

Qiang Wang

Yuntae Kim

Zhihua Liu

Myungjae Jeon

Tianhao Gao

Kuan Ma

Xiaolong Shi

Provided is a method of simultaneous localization and mapping (SLAM), the method including obtaining a structure of a current image frame, obtaining a structure re-identification constraint based on the structure of the current image frame, and obtaining a SLAM result based on the structure re-identification constraint. By introducing the structure re-identification constraint in a bundle adjustment process to obtain the SLAM result, error accumulation may be more easily controlled, and accuracy and robustness in obtaining the SLAM result may be improved.

Method and apparatus for simultaneous localization and mapping, and computer-readable storage medium

A simultaneous localization and mapping device is provided. The device includes an image obtaining device configured to capture color images and depth images of a surrounding environment; an initial pose estimating device configured to estimate an initial pose based on the color images and the depth images; a map constructing device configured to construct a three-dimensional map based on the depth images and the color images; and a pose determining device configured to determine a final pose based on the initial pose and the three-dimensional map.

Device and method with simultaneous implementation of localization and mapping

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Beijing, China

Xiongfeng Peng