Robust stereoscopic vision inertial pre-integration SLAM (Simultaneous Localization and Mapping) method

A stereoscopic vision and pre-integration technology, applied in the field of visual navigation, can solve problems such as imaging noise, hazards, visual solution failure navigation information, etc., and achieve high robustness

Active Publication Date: 2019-09-06
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0003] At present, most visual SLAMs have high requirements on the external environment, and need to use environmental information for visual calculations. In the entire SLAM process, the environment needs to be kept in a controllable state, otherwise it will cause visual calculations to fail and lead to navigation. Failed to output informa

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  • Robust stereoscopic vision inertial pre-integration SLAM (Simultaneous Localization and Mapping) method
  • Robust stereoscopic vision inertial pre-integration SLAM (Simultaneous Localization and Mapping) method
  • Robust stereoscopic vision inertial pre-integration SLAM (Simultaneous Localization and Mapping) method

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[0062] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0063] This embodiment provides a robust stereo vision inertial pre-integration SLAM method, including an inertial sensor and a stereo vision sensor relatively fixedly loaded on a carrier, and the inertia sensor includes an accelerometer and a gyroscope. refer to figure 1 , the working method of the SLAM system comprises the following steps:

[0064] Step 1: Periodically collect accelerometer data at time i Gyroscope data and stereo vision sensor data S(i);

[0065] The visual sensor is a vertical binocular camera or a color and depth (RGB-D) camera, and the visual sensor data collected at moment i in step 1 is point cloud data, and each pixel contains a pixel value and a three-dimensional image in the camera coordin...

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Abstract

The invention discloses a robust stereoscopic vision inertial pre-integration SLAM (Simultaneous Localization and Mapping) method and belongs to the technical field of visual navigation, wherein inertial sensor measurement value is used for carrying out pre-integration forecasting carrier navigation information, the information is fused with data of a stereoscopic vision sensor to judge the imagematching quality, the pre-integration information is fused to output different results according to a judgement result, the constructed map can be multiplexed, and accumulated errors are eliminated. According to the method in the invention, the problem of visual SLAM matching errors and failure in a bad environment can be effectively solved, the high-robustness and high-precision carrier navigation information is obtained, a precise map can be constructed for multiplexing, and a good popularization prospect is achieved.

Description

technical field [0001] The invention relates to a robust stereo vision inertial pre-integration SLAM method, which belongs to the technical field of visual navigation. Background technique [0002] Real-time localization and mapping (SLAM, Simultaneous Localization and Mapping) technology is a major research hotspot in the field of robot autonomous navigation technology, and it is also a necessary key technology in the application of robots in engineering practice. The visual sensor can perceive the light of the outside world without its own signal transmission, and has high autonomy. Visual SLAM has broad development prospects and great potential in robot SLAM. [0003] At present, most visual SLAMs have high requirements on the external environment, and need to use environmental information for visual calculations. In the entire SLAM process, the environment needs to be kept in a controllable state, otherwise it will cause visual calculations to fail and lead to navigation...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/18
CPCG01C21/165G01C21/18
Inventor 袁诚赖际舟吕品何容杨子寒
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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