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单目SLAM直线匹配增强平面发现方法

蒙山 唐文名

蒙山, 唐文名. 单目SLAM直线匹配增强平面发现方法[J]. 北京航空航天大学学报, 2017, 43(4): 660-666. doi: 10.13700/j.bh.1001-5965.2016.0273
引用本文: 蒙山, 唐文名. 单目SLAM直线匹配增强平面发现方法[J]. 北京航空航天大学学报, 2017, 43(4): 660-666. doi: 10.13700/j.bh.1001-5965.2016.0273
MENG Shan, TANG Wenming. Monocular SLAM plane discovery method enhanced by line segments matching[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(4): 660-666. doi: 10.13700/j.bh.1001-5965.2016.0273(in Chinese)
Citation: MENG Shan, TANG Wenming. Monocular SLAM plane discovery method enhanced by line segments matching[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(4): 660-666. doi: 10.13700/j.bh.1001-5965.2016.0273(in Chinese)

单目SLAM直线匹配增强平面发现方法

doi: 10.13700/j.bh.1001-5965.2016.0273
基金项目: 

国家“863”计划 2015AA042303

广东省科技计划 2015A030401016

深圳市基础研究项目 JCYJ 20150629152510439

详细信息
    作者简介:

    蒙山, 男, 博士, 副教授, 硕士生导师。主要研究方向:智能机器人系统运动建模与空间结构设计

    唐文名, 男, 硕士研究生。主要研究方向:三维环境建模、视觉导航

    通讯作者:

    蒙山, E-mail:mengshan@szu.edu.cn

  • 中图分类号: TP391

Monocular SLAM plane discovery method enhanced by line segments matching

Funds: 

National High-tech Research and Development Program of China 2015AA042303

Science and Technology Planning Project of Guangdong Province,China 2015A030401016

Basic Research Priorities Program of Shenzhen,China JCYJ 20150629152510439

More Information
  • 摘要:

    针对微小型机器人及无人机系统日益迫切的轻量化视觉导航需求,提出了一种多维几何特征单目视觉三维环境建模方法。单一点特征单目SLAM制图方法地图描述效率相对较低,噪声容忍性能需要进一步提高。将线和面特征引入单目SLAM的三维地图构建过程,提高系统三维空间建模的搜索速度和稳定性。利用快速直线搜索算法,并基于二维直线匹配生成三维空间直线。现有基于三维空间特征点生成最小采样集的J-Linkage算法需要的倾向向量维数较高,完成单目SLAM常见场景三维平面聚类所需的计算量大。通过点线特征结合以及直线增强的J-Linkage算法可以提高特征平面聚类速度和稳定性,减少系统三维空间表达的冗余信息。

     

  • 图 1  帧间直线匹配

    Figure 1.  Inter-frame matching of line segments

    图 2  对极几何三维直线生成

    Figure 2.  Three-dimensional line generation based on epipolar geometry

    图 3  点线特征对比示意图

    Figure 3.  Schematic diagram of comparison between feature points and feature lines

    图 4  参数ηφ影响S生成

    Figure 4.  Influences of parameters to S caused by η and φ

    图 5  J-Linkage三维平面发现

    Figure 5.  J-Linkage three-dimensional planes discovery

    图 6  直线增强的J-Linkage三维平面发现

    Figure 6.  Line enhanced J-Linkage three-dimensional planes discovery

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出版历程
  • 收稿日期:  2016-04-08
  • 录用日期:  2016-04-29
  • 刊出日期:  2017-04-20

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