Rapid pose estimation algorithm for dot-line feature visual SLAM system

Abstract

The invention discloses a rapid pose estimation algorithm for a dot-line feature visual SLAM system. The algorithm comprises the following steps: 1, carrying out the extraction of dot-line features ofsub-threads and the grid distribution of the features, and enabling the line features to be distributed to a pre-defined image frame grid according to the midpoint position; 2, carrying out sub-thread projection matching on the map points and the map line midpoints, and rejecting line features with mismatched line features; and 3, performing a pose optimization algorithm of map points and map line midpoints based on the step 2. The pose estimation algorithm provided by the invention is an algorithm used when a dot-line feature SLAM system works normally, and original complex four-degree-of-freedom line features are simplified by introducing point information in the line features, so that the efficiency of the dot-line feature pose estimation problem is greatly improved.

Description

technical field [0001] The invention belongs to the field of computer vision, and in particular relates to a fast pose estimation algorithm of a point-line feature visual SLAM system. Background technique [0002] Simultaneous localization and mapping (SLAM) has become more and more important with the development of unmanned driving and drone technology. It refers to the subject equipped with a specific sensor, without the prior information of the environment, to establish a model of the environment during the movement process, and at the same time estimate its own movement. If the camera is used as the sensor, it is called "visual SLAM". [0003] At present, based on the feature method SLAM system, most of them are pure point features. However, from the perspective of processing low-texture scenes and realizing the visualization of the system, pure point features obviously cannot meet the requirements, but the introduction of line features can effectively solve the above ...

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Problems solved by technology

However, from the perspective of processing low-texture scenes and realizing the visualization of the system, pure point features obviously cannot meet the requirements, but the introduction of line features can effectively solve the above two problems

[0004] On the other hand, the introduction of line features has the advantage of enhancing the robustness and visibility of the visual SLAM system, but compared with point features, line features have four degrees of freedom (two endpoints each have a pair of x, y coordinates) , which undoubtedly greatly increases the amount of calculation of the system

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