Map alignment method and system based on collaborative VSLAM

A map and map fusion technology, applied in the field of computer vision, can solve the problem of less research on VSLAM and achieve the effect of improving the accuracy of map construction

Active Publication Date: 2020-02-28
BEIJING YINGPU TECH CO LTD
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  • Description
  • Claims
  • Application Information

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However, most of the current research directions are still more concentr

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  • Map alignment method and system based on collaborative VSLAM
  • Map alignment method and system based on collaborative VSLAM
  • Map alignment method and system based on collaborative VSLAM

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Embodiment Construction

[0042] At present, the map alignment method based on VSLAM, such as PTAM, proposes and realizes the parallelization of tracking and mapping, and distinguishes the front and back ends for the first time (tracking needs to respond to image data in real time, and map optimization is carried out on the back end). Many subsequent visual SLAM system designs A similar approach was also taken. PTAM uses nonlinear optimization as the back-end scheme, rather than the filter back-end scheme. At the same time, a keyframes mechanism is proposed, that is, instead of finely processing each image, several key images are strung together to optimize its trajectory and map.

[0043] figure 1 is a schematic flowchart of a map alignment method based on cooperative VSLAM according to an embodiment of the present application. see figure 1 As we know, the collaborative VSLAM-based map alignment method provided by the embodiment of the present application may include:

[0044] Step S101: Create mu...

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Abstract

The invention provides a map alignment method and system based on collaborative VSLAM. In the method provided by the invention, the method comprises the steps: correspondingly establishing a pluralityof maps based on a current environment through a plurality of VSLAM systems, and then analyzing the plurality of maps to determine matching feature points among the plurality of maps; merging the plurality of maps into a joint map based on the matching feature points, and finally optimizing the residual errors of the merged joint map to realize alignment of the plurality of maps. Based on the method and system provided by the invention, ORB-SLAM is selected as a framework, the feature matching and map alignment of key frames are researched, calculation is performed for scale proportion factors of different maps, and the mapping precision of VSLAM is further improved.

Description

technical field [0001] This application relates to the field of computer vision, in particular to a method and system for map alignment based on collaborative VSLAM. Background technique [0002] VSLAM (Vision Simultaneous Localization and Mapping) is the current visual real-time positioning and mapping technology, which uses visual sensors to collect image data and builds maps based on the collected images. The main research hotspots on multi-camera collaborative VSLAM include three aspects, one is the task allocation method and communication between machines, the other is the data association of camera or sensor pose, and the third is map stitching relying on data association. However, most of the current research directions are still more concentrated on a single machine, and there are relatively few studies on VSLAM. As the number of available records increases, how to merge maps from multiple data sources into a common aggregate description of the environment is an urg...

Claims

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Application Information

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IPC IPC(8): G01C21/32
CPCG01C21/32
Inventor 樊硕
Owner BEIJING YINGPU TECH CO LTD
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