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SLAM method based on multi-fisheye camera and double-pinhole projection model

A fisheye camera and camera technology, applied in the field of computer vision, can solve problems such as monocular scale

Active Publication Date: 2020-07-14
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Cubemap-SLAM [Wang Yahui, Cai Shaojun, Li Shijie, et al., 2019.CubemapSLAM: APiecewise-Pinhole Monocular Fisheye SLAM System. 10.1007 / 978-3-030-20876-9_3.] Using a single large field of view fisheye camera , and use the cube map model to remove fisheye image distortion, but there is still a monocular scale problem

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  • SLAM method based on multi-fisheye camera and double-pinhole projection model
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  • SLAM method based on multi-fisheye camera and double-pinhole projection model

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[0050] Embodiments of the present invention are described below through specific examples. It should be noted that the diagrams provided in this embodiment only illustrate the basic idea of ​​the present invention in a schematic manner, so only the relevant aspects of the present invention are shown in the drawings. The components are not drawn according to the number, shape and size of the components in actual implementation. The type, quantity and proportion of each component in actual implementation can be changed arbitrarily, and the layout of the components may also be more complicated.

[0051] The present invention will be described in detail below in conjunction with the embodiments and the accompanying drawings.

[0052] like figure 2 A SLAM method based on multi-fisheye cameras and a double-pinhole projection model is shown. The camera position distribution presents a certain symmetrical relationship. All cameras output four software-synchronized 1920×1208 images at...

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Abstract

The invention discloses an SLAM method based on a multi-fisheye camera and a double-pinhole projection model. The SLAM method comprises the following steps: (1) calibrating internal and external parameters of the camera; (2) inputting a plurality of fisheye images, if the system is not initialized yet, correcting the input images into appropriate double-pinhole perspective images through a double-pinhole projection model, and extracting features from the corrected images of each view; (3) converting map points to each view for feature tracking and matching in combination with external parameters of a camera; (4) enabling map points of the fixed local map to be subjected to multi-view attitude optimization, and updating the estimated main body attitude; (5) combining all poses and map points of the local map to carry out multi-view bundle adjustment (BA) optimization; and (6) adopting a bidirectional symmetrical query mode to ensure that loopback can be correctly detected when the samescene is passed forward and backward, and carrying out loopback correction after loopback detection succeeds.

Description

technical field [0001] The invention belongs to the technical field of computer vision, and relates to a SLAM method based on a multi-fisheye camera and a double-pinhole projection model. Background technique [0002] With the development of unmanned driving, autonomous valet parking systems (AVPS) for specific scenarios are considered to be the most promising for early commercial implementation. as a key development target. Among them, simultaneous localization and mapping (SLAM) technology is applied to AVPS as a key technology to achieve autonomous positioning, especially visual SLAM (visual SLAM, vSLAM) is becoming more and more popular, because compared with differential GPS, laser Other alternatives such as radar, cameras have the advantages of low cost, passive sensing, and rich environmental information. [0003] Visual SLAM has been studied for decades, and currently there are monocular SLAM, binocular SLAM and RGBD SLAM. The hardware configuration of monocular S...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/292G06T7/246G06T7/579G06T7/80
CPCG06T7/292G06T7/248G06T7/579G06T7/80G06T2207/30264Y02T10/40
Inventor 李涛哀薇
Owner SOUTH CHINA UNIV OF TECH
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