HE-SLAM: A Stereo SLAM System Based on Histogram Equalization and ORB Features
HE-SLAM: A Stereo SLAM System Based on Histogram Equalization and ORB Features
In the real-life environments, due to the sudden appearance of windows, lights, and objects blocking the light source, the visual SLAM system can easily capture the low-contrast images caused by over-exposure or over-darkness. At this time, the direct method of estimating camera motion based on pixel luminance information is infeasible, …