摘要
同步定位与地图构建(SLAM)已在各个领域得到广泛应用,其算法越来越成熟,系统也趋于稳定,但仍存在许多问题亟待解决.其中SLAM系统的精度和效率一直是主要问题,集中表现在关键帧提取困难、回环检测过程中回环位置难以确定、跟踪性能差等.对此,提出一种基于旋转度的关键帧提取算法和一种基于历史模型的差异性回环检测算法.实验结果表明,利用所提出的改进算法,回环检测的效率和重定位的成功率都得到明显提高,系统的鲁棒性更强,跟踪性能更好.
With the wide application of simultaneous localization and mapping(SLAM)in various fields in recent years,the algorithms are more and more mature and the system tends to be stable.However,many problems still need to be solved urgently.The accuracy and efficiency of the SLAM system have always been the major problems,focusing on the difficulties of the key frame extraction,hard to determine the loop location in the loop detection process,poor tracking performance and so on.In this paper,we propose a key frame extraction algorithm based on rotation degree and a loop detection algorithm based on the historical differential loop model.The experiments show that the efficiency of loop detection and the success rate of relocalization have been significantly improved.The robustness of the system is stronger and the tracking performance is better by using the improved algorithm.
作者
佟国峰
张佳伟
刘满堂
岳晓阳
TONG Guo-feng;ZHANG Jia-wei;LIU Man-tang;YUE Xiao-yang(College of Information Science and Engineering,Northeastern University,Shenyang 110004,China)
出处
《控制与决策》
EI
CSCD
北大核心
2020年第3期587-592,共6页
Control and Decision
基金
国家自然科学基金项目(61175031)
国家863计划子课题(2012AA041402)
国家科技支撑计划子课题(2015BAF13B00-5).
关键词
旋转度
关键帧
回环检测
重定位
同步定位与地图构建
rotation
key frame
loop detection
localization
simultaneous localization and mapping
作者简介
通讯作者:佟国峰(1973-),男,教授,博士生导师,从事SLAM、无人驾驶和无人机、测绘机器人及大尺度场景的高精度三维重建、工业智能感知与深度学习等研究,E-mail:tongguo feng@ise.neu.edu.cn;张佳伟(1992-),男,硕士生,从事SLAM、移动场景的三维重建的研究,E-mail:519241634@qq.com;刘满堂(1995-),男,硕士生,从事SLAM、计算机视觉的研究,E-mail:1505852726@qq.com;岳晓阳(1993-),男,硕士生,从事SLAM、无人驾驶的研究,E-mail:493440155@qq.com.
