Three-Dimensional Location and Mapping Analysis in Mobile Robotics Based on Visual SLAM Methods

Figure 9

Sparse map made with ORB-SLAM2. In (a), the detection of characteristics prior to the initialization of the map (green line segments) and their follow-up after drawing up the first map (small rhom-buses enclosed by squares) is observed. In (b), the scattered point cloud corresponding to the map can be seen.

(a)

(b)