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

Method for densifying monocular SLAM feature point map

A feature point, single-purpose technology, applied in the field of densified monocular SLAM feature point map, can solve the problems of inability to move flexibly, unable to navigate with surgical robots, etc., and achieve the effect of precise navigation

Active Publication Date: 2020-10-30
SUZHOU UNIV +1
View PDF6 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Binocular cameras and RGB-D cameras cannot move flexibly in the human intestine due to volume limitations, so the only way to map the intestines is to use an endoscope with a monocular camera
Monocular SLAM can quickly track the camera, but the constructed map is a sparse feature point map, which can only be used for positioning and cannot be used for navigation of surgical robots

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 densifying monocular SLAM feature point map
  • Method for densifying monocular SLAM feature point map
  • Method for densifying monocular SLAM feature point map

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

[0039] refer to figure 1 As shown, the present invention discloses a dense monocular SLAM feature point map method, comprising the following steps:

[0040] S1. Delaunay triangulation is performed on the feature points in the key frame of each frame to obtain the key frame after triangulation.

[0041] Such as figure 2 Shown is the Delaunay triangulation performed on the pixel plane by the feature points in the key frame of the first frame.

[0042] The key frame in this step is the key frame selected during the monocular SLAM operation, and the Delaunay triangulation is a two-dimensional triangulation on the pixel plane of the key frame.

[0043] S2. Project the triangulated ...

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 discloses a method for densifying a monocular SLAM feature point map, which is characterized by comprising the following steps: S1, carrying out Delaunay triangulation on feature pointsin each frame of key frame to obtain a triangulated key frame; s2, projecting the triangulated key frame to a three-dimensional space to obtain coordinates of the triangulated key frame in a space coordinate system, and constructing a three-dimensional image of the key frame; s3, setting a triangular side length threshold of the triangulation, and filtering abnormal points in the three-dimensionalimage to obtain an optimized three-dimensional image; and S4, performing uniform point supplement on each triangle in the optimized three-dimensional image to obtain a dense monocular SLAM feature point map. Accurate navigation of the surgical robot can be realized.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a method for densifying monocular SLAM feature point maps. Background technique [0002] The development of SLAM (Simultaneous Localization And Mapping) technology makes it a new solution for endoscopic scene reconstruction. SLAM is the positioning and synchronous map construction of robots in unknown areas in the field of mobile robots. The visual SLAM with visual sensors as the main body is mainly divided into monocular, binocular and RGB-D according to sensor classification. Binocular cameras and RGB-D cameras cannot move flexibly in the human intestine due to volume limitations, so the only way to map the intestines is to use an endoscope with a monocular camera. Monocular SLAM can quickly track the camera, but the constructed map is a sparse feature point map, which can only be used for positioning and cannot be used for navigation of surgical robots. Contents of...

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): G06T3/00G06T17/20G06K9/00
CPCG06T17/20G06V20/46G06T3/08Y02T10/40
Inventor 郁树梅郭文康孙荣川干旻峰孙立宁
Owner SUZHOU UNIV
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