Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Method for carrying out pose optimization by utilizing Kalman filtering based on monocular SLAM algorithm

A Kalman filter, Kalman filter technology, applied in the field of computer vision

Active Publication Date: 2020-04-21
HARBIN INST OF TECH
View PDF11 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003]Because the map constructed by ORB-SLAM is sparse, and the sparse map can only be used for positioning, but only using ORB-SLAM to deal with positioning problems seems "overkill"

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for carrying out pose optimization by utilizing Kalman filtering based on monocular SLAM algorithm
  • Method for carrying out pose optimization by utilizing Kalman filtering based on monocular SLAM algorithm
  • Method for carrying out pose optimization by utilizing Kalman filtering based on monocular SLAM algorithm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0031] figure 1 The overall block diagram of the monocular SLAM algorithm structure for the method described in the present invention, mainly follows the idea of ​​ORB-SLAM as a whole, and is divided into three threads: tracking, mapping and closed-loop. The present invention is mainly proposed for the pose optimization part of the monocular SLAM, with the purpose of reducing time-consuming and improving the overall real-time performance. For Kalm...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a method for carrying out pose optimization by utilizing Kalman filtering based on a monocular SLAM algorithm. The method comprises the following steps: calculating update values of a rotation vector and a translation vector; and taking the update values of the rotation vector and the translation vector as optimized poses. According to the method, by modifying the pose optimization algorithm, a calculation amount and time consumption of ORB-SLAM are reduced, accurate and efficient positioning is provided for an upper-layer application, the calculation amount is reduced by replacing an original complex BA optimization method with a simple Kalman filtering method, and the time consumption of a pose optimization part is remarkably reduced. Compared with ORB-SLAM, the method provided by the invention has an advantage that real-time performance is improved.

Description

technical field [0001] The invention belongs to the technical field of computer vision, and in particular relates to a method for performing pose optimization based on a monocular SLAM algorithm and using a Kalman filter. Background technique [0002] Simultaneous Localization and Mapping (SLAM), proposed in 1988, has been a popular research direction in the field of mobile robots for more than 30 years. Today, SLAM algorithms are commonly used in mobile robot positioning in indoor scenes, and are also commonly used in small embedded systems. The ORB-SLAM proposed by Raul Mur-Artal et al. in 2015 is a SLAM algorithm based on the feature point method. The main body of ORB-SLAM inherits PTAM (Parallel Tracking and Mapping), which is used for monocular cameras. It is a peak of feature point SLAM. It has excellent loop detection and correction algorithms, and it is first proposed to use three parallel threads to complete SLAM, and The optimization algorithm is perfect, which m...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 马琳吴婉晴王彬何晨光
Owner HARBIN INST OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com