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System and method for selecting keyframe suitable for iterative closest point

A technique of iterating the closest point and key map, applied in the field of visual ranging, which can solve the problems of large error of key map frame and tracking loss.

Active Publication Date: 2019-04-05
NCKU RES & DEV FOUND +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, after determining the transition between the current frame and the nearest key frame, the selected key frame may have a large error, thus causing serious tracking loss

Method used

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  • System and method for selecting keyframe suitable for iterative closest point
  • System and method for selecting keyframe suitable for iterative closest point
  • System and method for selecting keyframe suitable for iterative closest point

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Embodiment Construction

[0059] figure 2 The block diagram of FIG. 10 shows a system 200 for selecting keyframes by iterative closest point (ICP) according to an embodiment of the present invention. The iterative closest point method (ICP) can generally be used to reduce the difference between two clouds of points. The system 200 of this embodiment can be applied to Simultaneous Localization and Mapping (SLAM), which can be used for constructing or updating maps and synchronously tracking positioning in unknown environments, such as for robot map building and navigation.

[0060] The blocks of system 200 may be implemented using circuitry, computer software, or a combination thereof. For example, at least a portion of system 200 may be implemented on a digital video processor. As another example, at least a portion of the system 200 may be implemented using computer instructions. In one embodiment, the system 200 is applicable to augmented reality (AR) devices. The hardware components of an augme...

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Abstract

A system for selecting a keyframe suitable for iterative closest point comprises: a reference frame selector for generating a reference frame according to a current frame and a current keyframe; an iterative closest point loop unit for performing the iterative closest point for the reference frame and the current frame to generate a pose of the current frame; and a key frame update unit for generating a new keyframe based on a difference condition of a posture of the current frame and a posture of the reference frame.

Description

technical field [0001] The present invention relates to visual odometry, and in particular to a system and method suitable for iterative closest point (ICP) selection of key frames. Background technique [0002] Visual odometry can be applied to robotics and computer vision, by analyzing images captured by cameras (such as red-green-blue-depth cameras) to determine the position and orientation of the robot. The source and target frames are aligned using the iterative closest point method (ICP) to estimate the robot's movement. figure 1 A block diagram showing a conventional visual odometry system 100 disclosed in "Fast Visual Odometry Using Intensity-Assisted Iterative Closest Point (Fast Visual Odometry Using Intensity-Assisted Iterative Closest Point)" proposed by Shile Li et al., published Published in IEEE ROBOTICSAND AUTOMATION LETTERS Volume 1, No. 2 in July 2016, the content of which is regarded as a part of this manual. [0003] The visual odometry system 100 can b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/04G01C11/02
CPCG01C11/02G01C11/04
Inventor 谢明得陈俊维林庭宇杨得炜
Owner NCKU RES & DEV FOUND