Binocular Initialization for Monocular SLAM Mapping
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Solution Overview
Problem
Traditional monocular-vision SLAM methods for autonomous vehicles face challenges in initialization, leading to low success rates and incomplete environmental mapping, as they require the vehicle to move a certain distance for successful mapping initialization.
Innovation Solution
A SLAM method and system that acquires initial frames from two camera modules with overlapping view-finding scopes when the vehicle is static, determining three-dimensional spatial positions of matching feature points to create an initial SLAM map, allowing for successful initialization without vehicle movement, and subsequently transitioning to monocular-vision SLAM for enhanced mapping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional monocular-vision SLAM is used for initialization, then the system structure remains simple, but the vehicle must move a certain distance which reduces mapping success rate and causes information loss
Solution Approach 1:
The patent applies preliminary action by performing binocular vision initialization before the vehicle moves. The system captures initial frames from two camera modules when the vehicle is stationary, establishes the initial SLAM map and camera pose in advance, so that mapping can begin immediately without requiring the vehicle to move a certain distance as in traditional monocular SLAM.
Solution Approach 2:
The patent implements dynamics by transitioning from binocular vision initialization to monocular vision mapping. The system dynamically switches between different vision modes: using binocular vision for initialization when the vehicle is static, then switching to monocular vision for continuous mapping during vehicle movement, optimizing resource usage at different operational stages.
2Loss of information
If the vehicle moves a certain distance for initialization, then monocular-vision SLAM can be initialized, but environmental information is lost and mapping success rate decreases
Solution Approach 1:
The system performs preliminary action by establishing the initial SLAM map and camera pose before the vehicle moves. Two camera modules capture initial frames when the vehicle is stationary, allowing the system to build the initial map without requiring vehicle movement, thereby preserving environmental information and improving mapping success rate.
3Reliability
If binocular camera modules are used for initialization, then mapping success rate increases and information loss is reduced, but the device complexity increases
Solution Approach 1:
The patent applies preliminary action by performing binocular vision initialization before the vehicle moves. The system captures initial frames from two camera modules when the vehicle is stationary, establishes the initial SLAM map and camera pose in advance, so that mapping can begin immediately without requiring the vehicle to move a certain distance as in traditional monocular SLAM.
Solution Approach 2:
The patent uses copying by utilizing the second camera module as a virtual depth sensor during initialization. The system captures images from two spatially separated camera modules, processes them to obtain depth information through parallax, and creates a copy of the environmental structure in the form of an initial SLAM map, eliminating the need for physical vehicle movement.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach increases the success rate of mapping by integrating binocular vision advantages during initialization and reduces data losses, enabling accurate and comprehensive environmental mapping without the need for vehicle movement, thus improving the reliability of SLAM systems for autonomous vehicles.
Implementation Method 1
determining, according to pre-calibrated internal parameters and external parameters of the two camera modules and a parallax of matching feature points in the two initial frames, three-dimensional spatial positions of the matching feature points
Data Source
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AI summary
Disclosed are a SLAM method and system for a vehicle. The method comprises: acquiring two initial frames respectively captured by any two camera modules of a vehicle when the vehicle is in a static state, wherein the two camera modules have identical or different focal lengths and field angles; determining, according to internal parameters and external parameters of the two camera modules and a parallax of matching feature points in the two initial frames, three-dimensional spatial positions of the matching feature points to obtain map points corresponding to the matching feature points to create an initial SLAM map to complete initialization; acquiring, when the initialization succeeds, an image captured by any one target camera module of the two camera modules; and performing, based on the initial SLAM map, monocular-vision SLAM according to the image captured by the target camera module. In this way, the initialization is completed by a binocular camera, and after the initialization succeeds, a monocular camera is configured for mapping, so that the operation load of the system is reduced, and the success rate of mapping is increased.