| 一种用于图像特征提取的改进ORB-SLAM算法 |
| |
| 引用本文： | 张良桥,陈国良,许晓东,连达军,王睿.一种用于图像特征提取的改进ORB-SLAM算法[J].测绘通报,2019,0(3):16-20. |
| |
| 作者姓名： | 张良桥 陈国良 许晓东 连达军 王睿 |
| |
| 作者单位： | 中国矿业大学环境与测绘学院,江苏 徐州221116;中国矿业大学国土环境与灾害监测国家测绘地理信息局重点实验室,江苏 徐州221116;中国矿业大学环境与测绘学院,江苏 徐州,221116;苏州科技大学环境学院,江苏 苏州,215009 |
| |
| 基金项目： | 国家重点研发计划（2016YFB0502105）；江苏省自然科学基金（BK20161181）；国家自然科学基金（41371423）；江苏高校品牌专业建设工程（PPZY2015B144） |
| |
| 摘 要： | 针对复杂室内环境下视觉SLAM定位存在实时性差、轨迹漂移等问题,本文提出了一种基于图像特征提取方法的ORBSLAM算法。该算法在前端中提高图像特征检测与匹配的效率和精度,引入闭环检测策略优化相机位姿轨迹,提高定位精度。以不同来源图像对比分析不同特征提取算法SIFT、SURF、ORB的有效性,运用该算法估计机器人运动轨迹,与真实轨迹相对位姿误差为0.144 8 m,试验表明所提出的方法切实可行,具有较高的稳健性。
|
| 关 键 词： | 视觉SLAM 图像特征检测与匹配 ORB-SLAM 回环检测 位姿估计 |
| 收稿时间： | 2018-05-24 |
| 修稿时间： | 2018-12-27 |
An improved ORB-SLAM algorithm for feature extraction |
| |
| ZHANG Liangqiao,CHEN Guoliang,XU Xiaodong,LIAN Dajun,WANG Rui.An improved ORB-SLAM algorithm for feature extraction[J].Bulletin of Surveying and Mapping,2019,0(3):16-20. |
| |
| Authors: | ZHANG Liangqiao CHEN Guoliang XU Xiaodong LIAN Dajun WANG Rui |
| |
| Institution: | 1. School of Environment Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China;2. NASG Key Laboratory of Land Environment and Disaster Monitoring, China University of Mining and Technology, Xuzhou 221116, China;3. Suzhou University of Science and Technology, Suzhou 215009, China |
| |
| Abstract: | Aiming at the problem of poor real-time performance and trajectory drift in visual SLAM positioning in complex indoor environments,this paper proposes an ORB-SLAM algorithm based on image feature detection extraction method.The algorithm improves the efficiency and accuracy of image feature detection and matching in the front-end,introduces a closed-loop detection strategy to optimize camera pose trajectory,and improves positioning accuracy.The SIFT,SURF and ORB of different feature extraction algorithms are compared and analyzed in different sources.The robot motion trajectory is estimated by this algorithm.The relative pose error from the real trajectory is 0.144 8 m.Experiments show that the proposed method is feasible and robustness. |
| |
| Keywords: | V-SLAM image feature detection and matching ORB-SLAM loop detection pose estimation |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《测绘通报》浏览原始摘要信息 |
| 点击此处可从《测绘通报》下载免费的PDF全文 |
|
