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Visual SLAM loopback detection method fusing with geometric information

A technology of geometric information and detection methods, which is applied in the direction of image data processing, special data processing applications, instruments, etc., can solve the problem that it is difficult to load high-performance equipment such as large-scale laser radar and omnidirectional camera, etc., to save costs and improve efficiency Effect

Active Publication Date: 2018-09-14
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

Although some of these methods can provide relevant solutions to the problem of viewing angle transformation, it is difficult to load high-performance devices such as large lidars and omnidirectional cameras on existing small mobile platforms due to cost constraints.

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  • Visual SLAM loopback detection method fusing with geometric information
  • Visual SLAM loopback detection method fusing with geometric information
  • Visual SLAM loopback detection method fusing with geometric information

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Embodiment Construction

[0054] A visual SLAM loop detection method fused with geometric information proposed by the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. According to the following description and claims, the advantages and features of the present invention will be clearer.

[0055] A visual SLAM loopback detection method integrating geometric information includes the following steps:

[0056] S1: Get the real key frame corresponding to each real camera in the SLAM system;

[0057] S2: Determine the perspective change of the corresponding virtual camera around each real camera, and calculate the pose of the virtual camera in the SLAM system;

[0058] S3: Reconstruct the 3D point cloud in the SLAM system according to the real key frames;

[0059] S4: According to the pinhole camera model and projection geometry, calculate the pixel coordinates of each 3D point in the 3D point cloud in the virtual key frame;

[0060] S5: ...

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Abstract

The invention discloses a visual SLAM loopback detection method fusing with geometric information, comprising: S1, acquiring a real key frame; S2: determining a change of view of a virtual camera, andcalculating the pose of the virtual camera in a SLAM system; S3, reconstructing three-dimensional point cloud in the SLAM system according to the real key frame; S4, calculating the pixel coordinatesof each three-dimensional point of the three-dimensional point cloud in a virtual key frame according to a pinhole camera model and projective geometry; S5, rendering the virtual key frame of the virtual camera; S6, extracting the feature descriptors of real key frame and the virtual key frame; S7: calculating the BoVs of the real key frame and the virtual key frame, adding the BoVs to a database, searching all real key frames and virtual key frames in the database during loopback detection to obtain loopback detection information. The visual SLAM loopback detection method fusing with geometric information can not only directly generate loopback detection information of different viewing angles by using monocular camera information, but also has higher efficiency than a traditional loopback detection method.

Description

Technical field [0001] The invention belongs to the field of synchronous localization and map construction (SLAM), and in particular relates to a visual SLAM loop detection method integrating geometric information. Background technique [0002] Synchronous localization and mapping (SLAM) is widely used on small mobile platforms. In recent years, with the development of SLAM technology and the enhancement of computing power of small platforms, mobile phones, drones, robots and other small motion platforms have increasingly demanded SLAM applications. Small platform application scenarios pose a series of challenges to related algorithms in SLAM. The limitations of computing power, sensor types, and complex scenarios put forward higher requirements for the implementation of SLAM algorithms. At this stage, SLAM is developing rapidly in terms of high-speed computing, data fusion and stronger scene adaptability. Visual SLAM is favored by many small mobile platform applications with ...

Claims

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Application Information

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IPC IPC(8): G06T7/73G06T19/00G06F17/30
CPCG06T19/006G06T7/73
Inventor 韩煦深应忍冬刘佩林
Owner SHANGHAI JIAO TONG UNIV
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