Infrared imaging SLAM method and device based on edge and feature point fusion
A technology of infrared imaging and feature points, applied in the field of image processing, can solve problems such as limiting robustness and accuracy, tracking failure, weak infrared image texture, etc., and achieve the effect of improving performance
Pending Publication Date: 2021-05-28
中国人民解放军93114部队
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However, due to the weak texture and low contrast of infrared images, it is often difficult for such methods to find a sufficient number of feature point matches, resulting in tracking failures, which limits their robustness and accuracy.
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[0033] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.
[0034] The infrared imaging SLAM method and device based on edge and feature point fusion according to the embodiments of the present invention will be described below with reference to the accompanying drawings.
[0035] Compared with visible light cameras, the advantage of infrared cameras is that they can work in scenes without light or haze, so they play an irreplaceable role in many scenes, especially in military applications. However, due to the poor quality of infrared images, the research on infrared imaging SLAM started ...
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The invention discloses an infrared imaging SLAM method and device based on edge and feature point fusion, and the infrared imaging SLAM method and device based on edge and feature point fusion comprises the following steps: extracting feature points and edges of a current frame; tracking the feature points and the edges to obtain tracking results of the feature points and the edges; fusing the tracking results, and testimating he pose of the current frame; judging whether a new key frame is inserted or not; and under the condition that a new key frame is inserted, sequentially carrying out feature point local mapping and loopback detection on the new key frame. Therefore, according to the method, the edges and the feature points are fused, the advantages of the edges and the feature points can be combined, more effective information can be extracted from the image, and performance, robustness and precision of infrared imaging SLAM are improved.
Description
technical field [0001] The present invention relates to the technical field of image processing, in particular to an infrared imaging SLAM method and device based on edge and feature point fusion. Background technique [0002] Compared with visible light cameras, the advantage of infrared cameras is that they can work in scenes without light or haze, so they play an irreplaceable role in many scenes, especially in military applications. However, due to the poor quality of infrared images, the research on infrared imaging SLAM (Simultaneous localization and mapping, real-time positioning and map construction) started late at home and abroad. Most of the current research on infrared imaging SLAM uses the method based on feature points. This is mainly because the infrared imaging SLAM of feature points is relatively mature, and the requirements for the imaging quality and calibration accuracy of the camera are not high. However, due to the weak texture and low contrast of inf...
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Login to View More IPC IPC(8): G06T7/00G06T7/13G06T7/136G06T7/73G06T5/50G06K9/46G06K9/62
CPCG06T7/0002G06T7/13G06T7/136G06T7/73G06T5/50G06T2207/10048G06T2207/20221G06V10/44G06F18/253
Inventor 陈骁干哲范梅梅何其芳王勇
Owner 中国人民解放军93114部队