单目视觉SLAM算法研究
首发时间:2016-05-04
摘要:随着机器人技术和计算机技术的快速发展,移动机器人方面的研究得到了越来越多的关注,而同步定位与地图构建(Simultaneous Localization and Mapping,SLAM)是移动机器人领域最基础也是最关键的技术之一。 SLAM技术有助于移动机器人实现真正的自主运动。本文提出一种基于ORB特征的单目视觉SLAM算法。首先对图像特征点进行匹配,并利用RANSAC算法对相机位姿进行跟踪,最后利用三角化测量构建场景地图。实验表明,本文提出的算法具有良好的可行性。
For information in English, please click here
Research of SLAM Algorithm for Monocular Vision
Abstract:With the rapid development of robot and computer technology, research on mobile robot has attracted more and more attention,and Simultaneous Localization and Mapping (SLAM)is one of the most basic and key technology in robotics research.The research of SLAM is helpful to the mobile robot to realizes the real autonomous movement..This paper presents a SLAM algorithm based on ORB feature.Firstly,matching image feature points,and tracking camera pose by RANSAC algorithm,finally using triangulation measurement to construct the map.The experiments results demonstrate the feasibility of the proposed algorithm.
Keywords: Image processing SLAM ORB feature Triangulation
基金:
论文图表:
引用
No.4685709102554214****
同行评议
勘误表
单目视觉SLAM算法研究
评论
全部评论0/1000