GS

说明：  ORB-SLAM 基本延续了 PTAM 的算法框架,但对框架中的大部分组件都做了改进, 归纳起来主要有 4 点: ORB-SLAM 选用了 ORB 特征, 基于 ORB 描述量的特征匹配和重定位, 都比 PTAM 具有更好的视角不变性。此外, 新增三维点的特征匹配效率更高, 因此能更及时地扩展场景。扩展场景及时与否决定了后续帧是否能稳定跟踪。ORBSLAM 加入了循环回路的检测和闭合机制, 以消除误差累积。系统采用与重定位相同的方法来检测回路(匹配回路两侧关键帧上的公共点), 通过方位图 (Pose Graph) 优化来闭合回路。PTAM 需要用户指定 2 帧来初始化系统, 2 帧间既要有足够的公共点, 又要有足够的平移量. 平移运动为这些公共点提供视差 (Parallax) , 只有足够的视差才能三角化出精确的三维位置。ORB-SLAM 通过检测视差来自动选择初始化的 2 帧。PTAM 扩展场景时也要求新加入的关键帧提供足够的视差, 导致场景往往难以扩展. ORB-SLAM 采用一种更鲁棒的关键帧和三维点的选择机制——先用宽松的判断条件尽可能及时地加入新的关键帧和三维点, 以保证后续帧的鲁棒跟踪; 再用严格的判断条件删除冗余的关键帧和不稳定的三维点，以保证 BA 的效率和精度。(Orb-slam basically continues the algorithm framework of PTAM, but most of the components in the framework have been improved, which mainly includes four points:)

一个不错的Meanshift算法流程图 初学者可以看看(failed to translate)

输入一个带权无向图的顶点数、边数、各条边信息（两个顶点和权值），建立该图的邻接矩阵结构，输出该邻接矩阵。将上述无向图邻接矩阵转换为邻接表结构，输出该邻接表；根据该邻接表对无向图进行深度优先遍历序列和广度优先遍历序列，并输出遍历结果；用prim算法实现构造该带权无向图的最小生成树，并将该最小生成树的各条边信息输出。(Enter a weighted undirected graph with vertices, edges, each of the side information (two vertices and weights), the establishment of the adjacency matrix structure, the output of the adjacency matrix. The above undirected graph adjacency matrix into adjacency list structure, the output of the adjacency list according to the adjacency table undirected graph depth-first traversal sequence and breadth-first traversal sequence, and outputs through the results using prim algorithm construct the weighted undirected graph minimum spanning tree, and the minimum spanning tree information on respective sides of the output.)

说明：  Jpeg算法源代码，包含jpeg的各种算法实现的vc++的源代码(Jpeg algorithm source code, including the various algorithms jpeg of vc++ source code)

bemd分解得到图像基本imf，二维希尔伯特变换(Image basic IMF obtained by BEMD decomposition.Two-dimensional Hilbert transform)

图像融合工具包：包含多种基本图像融合方法 开发环境：matlab(Image Fusion tool kits : a mixture of basic image fusion method development environment : Matlab)

这是一个数字图像处理常用的功能的集成软件，用VC++ 编写，可以对图像进行一些常见的操作，也可以自己扩展功能(This is a common feature of digital image processing integrated software, images can perform basic operations)

一个很强大的图形计算处理软件，包括图像聚类，矩阵计算等(Scotch is a software package for graph and mesh/hypergraph partitioning, graph clustering, and sparse matrix ordering )

提取目标各种特征，图像处理，目标几何特征，纹理特征等(Extract various features, image processing, target geometric features, texture features, etc.)

说明：  国外编写的双树复小波的一个开发包，包括1维和2维的情况，文件中有说明。(The Dual-Tree Complex Wavelet prepared outside of a development package, including the one-dimensional and two-dimensional case, the document has made it clear.)