Point-line combined multi-camera vision SLAM method and device and storage medium

A multi-camera vision and point-and-line technology, applied in the field of computer vision, can solve problems such as unsatisfactory stability and precision, achieve intuitive and abstract description, and improve stability and accuracy

Inactive Publication Date: 2020-12-15
THE HONG KONG POLYTECHNIC UNIV SHENZHEN RES INST
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Problems solved by technology

[0005] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a multi-camera visual SLAM method, device and storage medium combinin...

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  • Point-line combined multi-camera vision SLAM method and device and storage medium
  • Point-line combined multi-camera vision SLAM method and device and storage medium

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Embodiment Construction

[0050] In order to make the object, technical solution and advantages of the present invention more clear and definite, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0051]Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of said features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, elements, components, and / or groups thereof. It will be understood that when an element is referred to as being "c...

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Abstract

The invention provides a point-line combined multi-camera vision SLAM method and device, and a storage medium, and the method comprises the steps: collecting multi-angle image data of a target scene,extracting and matching point features and line features in the multi-angle image data, and obtaining the position information of the point features and the line features in a three-dimensional space;and performing camera pose preliminary estimation on each frame of image in the multi-angle image data, constructing a graph structure in combination with the extracted and matched point features, line features and camera pose preliminary estimation results, and determining a three-dimensional map according to the extracted point features, line features and the graph structure. According to the embodiment of the invention, a point and line feature joint calculation method is adopted, and the line features contain more information, so that the tracking stability and accuracy can be improved, and a sparse feature map constructed by using the line features can be used for carrying out abstract description on a scene more clearly and intuitively.

Description

technical field [0001] The present invention relates to the technical field of computer vision, in particular to a multi-camera visual SLAM method, device and storage medium combining point and line. Background technique [0002] The SLAM algorithm is widely used in robot autonomous navigation and environment recognition in augmented reality, aerospace, underwater and other scenarios, and has important theoretical significance and practical value. Among them, visual SLAM based on sequential image data has become a hot research topic due to its advantages of economy and portability. How to effectively extract representative and tracking features from image data, describe them using an appropriate algebraic language, and how to make full use of the above information to restore camera pose and scene structure are the key concerns of SLAM algorithms. [0003] The feature method is currently the mainstream method in visual SLAM. It extracts abstract geometric features from image...

Claims

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Application Information

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IPC IPC(8): G06T7/73G06T5/00G06K9/46G06T17/05
CPCG06T7/73G06T5/006G06T17/05G06T2207/20016G06T2207/10016G06T2200/08G06V10/443
Inventor 史文中李铁维王牧阳
Owner THE HONG KONG POLYTECHNIC UNIV SHENZHEN RES INST
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