Tianfa

About Me

I am Tianfa-Yao , a slam algorithm engineer, who graduated from Southwest University of Science and Technology in 2018, majoring in electrical engineering and automation . My research direction is stereo matching, and stereo vision slam, multi-sensor fusion.Now, I work at enabot.

Recent Worlk

Stereo Vslam

I used indirect method to complete a stereo visual odometer. The main ideas are as follows:
1. The front end uses optical flow to track fast feature points
2. The backend uses g2o to optimize the sliding window. It is similar to the traditional indirect method.
3. But using optical flow and stereo as the front end makes it more robust to fast motion and pure rotation，and get the real scale of motion.

Stereo Wheel Vslam

1. Continuing our previous work, I used a tightly coupled approach to fuse wheel speeds, making it robust to weak texture regions and obvious lighting changes.
2. Added Dbow2 to loopclose detection . After loopclosed, use pose-graph to optimize the trajectory.
3. Implement map preservation and reuse.