RGB-D visual SLAM method based on dot-line features

A RGB-D, line feature technology, applied in image analysis, image enhancement, instrumentation, etc., can solve problems such as low accuracy, large illumination changes, and low semantics

Active Publication Date: 2021-02-19
SHANGHAI UNIV OF ENG SCI
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Problems solved by technology

[0005] In view of the above-mentioned problems existing in the prior art, the purpose of the present invention is to provide a RGB-D visual SLAM method based on point-line fea

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  • RGB-D visual SLAM method based on dot-line features
  • RGB-D visual SLAM method based on dot-line features
  • RGB-D visual SLAM method based on dot-line features

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Embodiment 1

[0087] Such as figure 1and figure 2 As shown, a kind of RGB-D visual SLAM method based on point line feature provided by the present invention comprises the following steps:

[0088] S1. Calibration of internal parameters of RGB-D camera: Use RGB-D camera as the image acquisition device to calibrate the internal parameters of RGB-D camera. The internal parameters of RGB-D camera include the principal point, focal length and distortion coefficient of the camera:

[0089] S11, take the RGB-D camera as the image acquisition device, utilize the RGB-D camera to shoot the fixed-sized calibration plate (checkerboard) under different angles, obtain the image data required for calibration; adopt the RGB-D camera as the image in the present invention Acquisition equipment, RGB-D camera can provide a pair of registered RGB image and depth image in real time, and the depth image can provide accurate depth information for subsequent conversion of pixel coordinates to three-dimensional sp...

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Abstract

The invention discloses an RGB-D visual SLAM method based on dot-line features. The RGB-D visual SLAM method comprises the following steps: S1, calibrating internal parameters of an RGBD camera; s2, performing line feature extraction; s3, acquiring an initial transformation pose of the camera; s4, performing linear projection from the key frame to the current frame; s5, forming an error function of the visual odometer module; s6, performing iterative optimization of the initial transformation pose of the current frame of camera and pose solution of the current frame of camera; s7, judging thekey frame; s8, performing local BA optimization; s9, performing loop detection; s10, performing repositioning; s11, constructing a map; s12, outputing a result. According to the SLAM method provided by the invention, the RGB-D camera is used as image acquisition equipment, points and edge lines of an object in a scene are used as positioning features to realize SLAM, and the method has relativelygood accuracy in challenging scenes such as low semantics and low texture.

Description

technical field [0001] The invention relates to an RGB-D visual SLAM method based on point-line features, and belongs to the technical field of visual SLAM (synchronous positioning and map construction). Background technique [0002] SLAM (simultaneous localization and mapping, synchronous positioning and map construction) can be summarized as: a certain mobile device (such as a robot, a drone, a mobile phone, etc.) starts from an unknown location in an unknown environment, and passes through sensors (such as Laser radar, camera, etc.) observe and position its own position, attitude, and motion trajectory, and then perform incremental map construction according to its own position, so as to achieve the purpose of simultaneous positioning and map construction. The development of SLAM technology has a history of more than 30 years, involving many technical fields, and has become a popular research direction in the field of robotics and computer vision. [0003] Generally spea...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/521G01C21/00
CPCG06T7/80G06T7/521G01C21/005G06T2207/20068G06T2207/30244
Inventor 方志军卢俊鑫高永彬杨淑群方荣辉
Owner SHANGHAI UNIV OF ENG SCI
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