Visual SLAM loopback verification system based on consistency cluster

A verification system and consistency technology, applied in image data processing, 3D modeling, instruments, etc., can solve problems such as insufficient reliability, wrong map estimation, wrong constraint addition, etc., to improve overall performance and high reliability , the effect of simple design method

Pending Publication Date: 2022-01-07
EAST CHINA UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

[0005] After the visual SLAM loop detection algorithm judges that the robot has reached the same position through the image frame, this information is added as an optimization constraint to the back-end nonlinear optimization process to help the system obtain a more accurate map and more accurate positioning. However, it is only based on

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  • Visual SLAM loopback verification system based on consistency cluster
  • Visual SLAM loopback verification system based on consistency cluster
  • Visual SLAM loopback verification system based on consistency cluster

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[0094] Example:

[0095] In this section, the simulation experiment of the mobile robot SLAM system is carried out to verify the improvement of the accuracy of the overall SLAM system by a visual SLAM loopback verification system based on the consistency cluster described above.

[0096] The experimental scenarios are respectively selected as the large-with-loop and long-office-household datasets, the City Center dataset, and the New College dataset in the TUM RGB-D benchmark dataset. The scenarios are as follows image 3 As shown, the algorithm results after applying the loopback verification are compared with the results without the verification algorithm, and the experimental results are analyzed. In the experiment-related parameters, the incremental range of the cluster loopback time is set to 8s, and the cluster center distance threshold is set to 15.

[0097] The performance evaluation standard of the SLAM loop detection algorithm uses the following two parameters: reca...

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Abstract

The invention relates to a visual SLAM loopback verification system based on a consistency cluster. The system comprises a front-end visual odometer module which is used for extracting features of input image frames, determining the position relation between adjacent image frames, and constructing a local map; a loopback detection module is used for judging that the image frames are at the same position on the basis of the image frames calculated by the front-end visual odometer and the similarity, namely, judging loopback; a rear-end nonlinear optimization module is used for globally optimizing the local map input by the front-end visual odometer module and the loopback constraint output by the loopback detection module through a graph optimization method to obtain a globally consistent track and map. Compared with the prior art, the method has the advantages of high reliability, good accuracy, low resource consumption and the like.

Description

technical field [0001] The invention relates to the fields of artificial intelligence and robot control, in particular to a visual SLAM loopback verification system based on consistency clusters. Background technique [0002] In recent years, human society has developed rapidly in the direction of intelligence and industrialization. Under this environment, a large number of research and development projects and robotic products have emerged at home and abroad, involving various fields of life. Mobile robots are one of them. Robots of concern. For example, Google's self-driving car project, which aims to develop driverless cars and help drivers complete operations such as starting and driving the vehicle. The project has entered the stage of actual road testing and completed a driving distance of over one million kilometers. In addition, other mobile robots, including household cleaning robots, restaurant delivery robots, security robots, and large-scale freight automatic g...

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Application Information

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IPC IPC(8): G06T17/05G06T7/40G06T7/13G06K9/62
CPCG06T17/05G06T7/40G06T7/13G06T2207/10012G06T2207/10024G06F18/23213
Inventor 严怀成应桃张皓李郅辰王孟田永笑陈辉张长柱王曰英施开波秦博
Owner EAST CHINA UNIV OF SCI & TECH
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