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Line feature SLAM initialization method based on maximum posterior IMU

An initialization method and maximum a posteriori technology, applied in image data processing, instruments, 3D modeling, etc., can solve the problems of less feature point extraction, initialization failure, positioning failure, etc.

Pending Publication Date: 2021-08-24
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in scenes with weak textures, weak lighting, and obvious lighting changes, initialization failures and positioning failures caused by fewer feature point extractions will occur.

Method used

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  • Line feature SLAM initialization method based on maximum posterior IMU
  • Line feature SLAM initialization method based on maximum posterior IMU
  • Line feature SLAM initialization method based on maximum posterior IMU

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Embodiment Construction

[0037] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0038] Depend on figure 1 It can be seen that the idea of ​​the present invention is: first extract the line feature information in the image through the LSD algorithm, and then add the LBD descriptor to perform feature matching of the front and rear frames; the visual initialization first performs the camera pose initialization and uses PNP to solve the pose, and then performs the spatial line Feature initialization, use the matrix of the trifocal tensor and solve it to obtain the rotation matrix; IMU performs pre-integration to convert the IMU relative measurement information between frames into constrained nodes (carrier pose) to participate in the optimization framework, and measure the IMU relative It is processed so that it is decoupled from the absolute pose, which greatly improves the optimization speed. Finally, the final UAV pose is solved by joint ini...

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Abstract

The invention relates to a line feature SLAM (Simultaneous Localization and Maximum) initialization method based on a maximum posterior IMU (Inertial Measurement Unit). Pixel merging is realized by merging pixel points with similar gradients, and whether an approximate rectangle obtained by NFA detection can be used as an extractable line feature or not is calculated. A rectangular support domain is constructed for line features in a scale space, the support domain is decomposed into sub-regions with the same size, and gradient calculation is performed on the sub-regions by combining global and local Gaussian weight coefficients, so that a description matrix is obtained. A trifocal tensor matrix is constructed through the LBD descriptors corresponding to three continuous frames of images acquired by the camera, and the trifocal tensor matrix is solved. Map points are marginalized to construct a minimization re-projection error equation, prior information of a track and a closed information matrix are obtained, and the information is used for optimizing IMU data. The method is higher in initialization precision and less in time consumption, and can bring a good initial value for subsequent positioning.

Description

technical field [0001] The invention belongs to the field of image guidance, and relates to an image inertial navigation initialization positioning method, in particular to a line feature SLAM initialization method based on a maximum a posteriori IMU. Background technique [0002] Simultaneous Localization and Mapping (SLAM) is considered to be the core technology to realize the autonomous operation of mobile robots, and has been widely used in fields such as drones, unmanned vehicles, and virtual reality. For indoor environments, since buildings will block GPS signals, SLAM technology is often used for UAV positioning. In order to overcome the lack of accuracy of a single sensor, a multi-sensor fusion strategy is often used. For example, visual inertia is an effective fusion method. Moreover, both the camera and the inertial measurement unit (Inertial Measurement Unit, IMU) have the characteristics of light weight and low cost, which meet the requirements of light weight an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/13G06T7/73G06T17/05
CPCG06T7/0002G06T7/13G06T7/73G06T17/05G06T2207/10012G06T2207/30244Y02T10/40
Inventor 张通刘春江庞明慧江奕蕾闫斌斌
Owner NORTHWESTERN POLYTECHNICAL UNIV
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