SLAM method based on RGB-D image

A RGB-D, image technology, applied in the direction of instruments, biological neural network models, character and pattern recognition, etc., can solve the problems of serious time-consuming, large matching range, unreasonable accuracy and real-time performance

Active Publication Date: 2021-03-26
CHANGAN UNIV
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Problems solved by technology

However, there are still some problems in the above method: first, using violent matching to match feature points requires each feature to be matched with all other features, the matching range is large, and time-consuming is serious; second, the accuracy and real-time performance are not rational

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  • SLAM method based on RGB-D image

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Embodiment Construction

[0090] Such as figure 1 Shown a kind of SLAM method based on RGB-D image, this method comprises the following steps:

[0091] Step 1. Acquisition of RGB-D images:

[0092] Use the depth camera to collect the space to be shot in real time according to the preset collection time, and send the RGB-D images collected at each sampling time to the computer; where the RGB-D image collected at the i-th sampling time includes the first The i-frame color image and the depth value corresponding to the i-th frame color image, i is a positive integer, and 1≤i≤M, M represents the total number of frames of the color image;

[0093] Step 2, feature point extraction and matching of RGB-D image:

[0094] Step 201, the computer adopts the ORB algorithm to extract the feature points of the i-th color image to obtain the feature point description subset of the i-th color image; wherein, the feature point descriptor corresponding to the a-th feature point in the i-th color image Denote as the at...

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Abstract

The invention discloses an SLAM method based on an RGB-D image. The method comprises the following steps: 1, acquiring the RGBD image; 2, extracting and matching feature points of the RGB-D image; 3,calculating a rotation matrix and a translation matrix; 4, acquiring a key frame in the RGBD image; 5, performing closed-loop judgment on the key frame; 6, carrying out global optimization on the RGB-D image; and 7, constructing a grid map. The method is simple in step, reasonable in design and convenient to implement, the violent matching problem is solved, errors, caused by mass difference of matching points, of the pose of the depth camera are reduced, the precision and real-time performance of SLAM are improved, and therefore the requirement for real-time SLAM of a robot can be met, and extremely high precision is achieved.

Description

technical field [0001] The invention belongs to the technical field of grid map construction, and in particular relates to a SLAM method based on RGB-D images. Background technique [0002] With the continuous development of intelligent robot technology, researchers hope that one day robots can observe and understand the surrounding world through eyes, complete their own positioning and model the surrounding environment like humans. This problem is generally called Simultaneous Localization and Mapping (SLAM). VSLAM refers to the completion of real-time positioning and map construction through visual sensors. Integrating a visual sensor and an infrared sensor and achieving good synchronization between the information of the two sensors constitutes an RGB-D sensor. VSLAM based on RGB-D sensors is called RGB-D SLAM. The current SLAM methods mainly use SIFT feature point extraction for RGB-D images, and then use the nearest iterative point ICP algorithm to solve the optimal ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/46G06K9/62G06N3/04
CPCG06N3/049G06V20/10G06V10/44G06N3/044G06F18/22
Inventor 荆树旭卢鹏宇柳有权翟晓惠刘佳玲
Owner CHANGAN UNIV
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