SLAM based on sparse direct method and graph optimization for mobile robot

被引：0
|
作者：
Wu Y. [1 ]
Wang C. [1 ]
Xian Y. [1 ]
机构：
[1] College of Automation Science and Engineering, South China University of Technology, Guangzhou
来源：
Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument | 2018年 / 39卷 / 04期
关键词：
Graph optimization; Mobile robot; SLAM; Sparse-direct method;
D O I：
10.19650/j.cnki.cjsi.J1702971
中图分类号：
学科分类号：
摘要：
To deal with the problem of complex computation and poor real-time performance of mobile robot simultaneous localization and 3D dense mapping, a real-time SLAM algorithm is proposed based on RGB-D data. Firstly, the FAST feature points in RGB image are extracted. The 3D position of the feature points is calculated. Then, the direct method is used to minimize the photometric error to estimate the pose transform of the camera. The key frames are extracted according to the size of the pose transform. Finally, to reduce the accumulated error occurred during the movement of mobile robot, a closed-loop detection method based on the bag-of-words model is proposed. The g2o framework is adopted to optimize the pose graph. Experimental results show that the proposed algorithm can effectively improve the real-time performance of SLAM system and build a dense three-dimensional environment map. © 2018, Science Press. All right reserved.
引用
收藏
页码：257 / 263
页数：6
相关论文
共 23 条
  • [1] Choi H., Yang K.W., Kim E., Simultaneous global localization and mapping, IEEE ASME Transactions on Mechatronics, 19, 4, pp. 1160-1170, (2014)
  • [2] Smith R., Self M., Cheeseman P., Estimating uncertain spatial relationships in robotics, Autonomous Robot Vehicles, pp. 167-193, (1990)
  • [3] Li S.X., Li G.Y., Zhou Y.L., Et al., Improved monocular simultaneous and mapping solution, Chinese Journal of Scientific and Instrument, 38, 11, pp. 2849-2857, (2017)
  • [4] Schmidt A., The EKF-based visual SLAM system with relative maporientation measurements, International Conference on Computer Vision and Graphics, pp. 570-577, (2014)
  • [5] Dai X.M., Lang L., Chen M.Y., Strong travking square-root cubature Kalman filter based on SLAM algorithm, Journal of Electronic Measurement and Instrumentation, 29, 10, pp. 1493-1499, (2015)
  • [6] Sibley G., Relative bundle adjustment, Electronic Notes in Theoretical Computer Science, 220, 3, pp. 976-982, (2009)
  • [7] Davision A., Reid I.D., Molton N.D., Et al., Monoslam: Real-time single camera SLAM, IEEE Transactions on Pattern Analysis and Machine Intelligence, 29, 6, pp. 1052-1067, (2007)
  • [8] Klein G., Murray D., Parallel tracking and mapping for small AR workspaces, 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp. 225-234, (2007)
  • [9] Mur-Artalr, Montiel J.M.M., Tard S.J.D., ORB-SLAM: A versatile and accurate monocular SLAM system, IEEE Transactions on Robotics, 31, 5, pp. 1147-1163, (2015)
  • [10] Fprester C., Pizzoli M., Scaramuzza D., SVO: Fast semi-direct monocular visual odometry, IEEE International Conference on Robotics and Automation, pp. 15-22, (2014)
123