Monocular SLAM robust initialization method based on multiple frames

An initialization method and a robust technology, applied in image data processing, instruments, calculations, etc., can solve problems such as inability to quickly converge, and achieve the effect of improving accuracy

Pending Publication Date: 2022-04-26
NAT UNIV OF DEFENSE TECH
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  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings of the inability to quickly converge and the existence of "scattered points" in the above-mentioned prior art, and provide a SLAM initialization me

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  • Monocular SLAM robust initialization method based on multiple frames
  • Monocular SLAM robust initialization method based on multiple frames
  • Monocular SLAM robust initialization method based on multiple frames

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Embodiment Construction

[0063] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0064] Such as figure 1 As shown, this embodiment provides a multi-frame-based monocular SLAM robust initialization method, the method comprising steps:

[0065] S1: Extract the feature points of each image frame in the initial video stream, and match the image frames in pairs according to the feature points, and filter the matching points through the Random Sample Consensus (RANSAC) algorithm to obtain the initial matching point pairs, ...

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Abstract

The invention discloses a monocular SLAM robust initialization method based on multiple frames, and the method comprises the steps: extracting feature points of image frames in an initial video stream, carrying out the mutual matching, screening out matching points, and obtaining an initial matching point pair; screening out a three-view pair according to the initial matching point pair, then screening out matching points in the three-view pair based on a random sampling consensus algorithm of a trifocal tensor, and constructing a three-frame matching graph; solving relative rotation among the image frames according to a double-vision geometric principle; solving global rotation according to relative rotation among the image frames; solving global displacement based on global rotation; integrating the global rotation and the global displacement to obtain an initial pose of each frame, and performing nonlinear optimization adjustment according to the initial pose; calculating depth of field of the feature points, and recovering three-dimensional coordinates of the feature points; according to the method, the convergence speed can be increased, scatter points are reduced, and therefore the precision of the initial map is improved.

Description

technical field [0001] The invention belongs to the technical field of monocular SLAM initialization, and in particular relates to a multi-frame-based monocular SLAM robust initialization method. Background technique [0002] The goal of simultaneous localization and mapping (SLAM) is to reconstruct the unknown environment while estimating the motion trajectory of the camera. The technology is currently widely used in fields such as augmented reality and autonomous driving, and can operate in real time without relying on external infrastructure. [0003] Initialization is the key to monocular SLAM technology. Through initialization, the initial pose of the camera can be obtained and an initial map can be generated to provide support for the subsequent tracking phase. [0004] At present, the academic community mainly uses the incremental motion recovery structure technology (Structure From Motion, SFM) to initialize the monocular SLAM system, mainly using the epipolar geome...

Claims

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Application Information

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IPC IPC(8): G06T7/73G06T7/579G06T7/246G06T3/60
CPCG06T7/73G06T7/579G06T7/246G06T3/60G06T2207/30244
Inventor 胡德文葛杨冰
Owner NAT UNIV OF DEFENSE TECH
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