|本期目录/Table of Contents|

[1]翁秀玲,王云峰*,吴 炜,等.基于局内点分布的图优化方法[J].厦门大学学报(自然科学版),2018,57(02):265-270.[doi:10.6043/j.issn.0438-0479.201704049]
 WENG Xiuling,WANG Yunfeng*,WU Wei,et al.Graph Optimization Method Based on Inlier Distribution[J].Journal of Xiamen University(Natural Science),2018,57(02):265-270.[doi:10.6043/j.issn.0438-0479.201704049]
点击复制

基于局内点分布的图优化方法(PDF)
分享到:

《厦门大学学报(自然科学版)》[ISSN:0438-0479/CN:35-1070/N]

卷:
57卷
期数:
2018年02期
页码:
265-270
栏目:
研究论文
出版日期:
2018-03-31

文章信息/Info

Title:
Graph Optimization Method Based on Inlier Distribution
文章编号:
0438-0479(2018)02-0265-06
作者:
翁秀玲王云峰*吴 炜郭东辉
厦门大学信息科学与技术学院,福建 厦门 361005
Author(s):
WENG XiulingWANG Yunfeng*WU WeiGUO Donghui
School of Information Science and Engineering,Xiamen University,Xiamen 361005,China
关键词:
图优化 信息矩阵 局内点
Keywords:
graph optimization information matrix inlier
分类号:
TP 391.4
DOI:
10.6043/j.issn.0438-0479.201704049
文献标志码:
A
摘要:
COP-SLAM(closed-form online pose-chain simultaneous locatization and mapping)是一种轻量型图优化算法,可以实时优化.但当局内特征点集中位于图像的特定区域时,其信息矩阵不能很好地表征里程计精度,影响实时优化效果.基于局内特征点的分布,引入局内点集的面积表示局内点的分布,提出了一种视觉里程计的后端图优化方法.实验结果表明,该优化方法有效地降低了相机绝对轨迹误差.
Abstract:
Closed-form online pose-chain simultaneous locatization and mapping(COP-SLAM)is a lightweight graph optimization algorithm that meets real-time constraints.However,it cannot be a good measure of visual odometry accuracy when inlier points are mainly distributed on the specific region of the image,affecting the real-time optimization results.A general approach to back-end graph optimization of visual odometry is proposed based on inlier distribution.The area of inlier set is introduced to represent inlier distribution.Experimental results have demonstrated that the method can effectively reduce absolute trajectory errors.

参考文献/References:

[1] CADENA C,CARLONE L,CARRILLO H,et al.Past,present,and future of simultaneous localization and mapping:towards the robust-perception age[J].IEEE Transactions on Robotics,2016,32(6):1309-1332.
[2] DELLAERT F,KAESS M.Square root SAM:simultaneous localization and mapping via square root information smoothing[J].International Journal of Robotics Research,2006,25(12):1181-1203.
[3] KAESS M,RANGANATHAN A,DELLAERT F.ISAM:incremental smoothing and mapping[J].IEEE Transactions on Robotics,2008,24(6):1365-1378.
[4] KONOLIGE K,GRISETTI G,KUMMERLE R,et al.Efficient sparse pose adjustment for 2D mapping[C]∥IEEE International Conference on Intelligent Robots and Systems.Taiwan:IEEE,2010:22-29.
[5] KUMMERLE R,GRISETTI G,STRASDAT H,et al.G2O:a general framework for graph optimization[C]∥IEEE International Conference on Robotics and Automation.Piscataway:IEEE,2011:3607-3613.
[6] DUBBELMAN G,BROWNING B.Closed-form online pose-chain SLAM[C]∥IEEE International Conference on Robotics and Automation.Karlsruhe:IEEE,2013:5190-5197.
[7] DUBBELMAN G,BROWNING B.COP-SLAM:closed-form online pose-chain optimization for visual SLAM[J].IEEE Transactions on Robotics,2015,31(5):1194-1213.
[8] SUNDERHAUF N.Robust optimization for simultaneous localization and mapping[D].Chemnitz:Chemnitz University of Technology,2012:13-193.
[9] THRUN S,LIU Y,KOLLER D,et al.Simultaneous localization and mapping with sparse extended information filters[J].The International Journal of Robotics Research,2004,23(7/8):693-716.
[10] GEIGER A,LENZ P,STILLER C,et al.Vision meets robotics:the KITTI dataset[J].International Journal of Robotics Research,2013,32(11):1231-1237.
[11] GEIGER A,ZIEGLER J,STILLER C.StereoScan:dense 3d reconstruction in real-time[C]∥IEEE Intelligent Vehicles Symposium.Baden-Baden:IEEE,2011:963-968.
[12] HAST A,NYSJ? J,MARCHETTI A.Optimal RANSAC:towards a repeatable algorithm for finding the optimal set[J].Journal of Wscg,2013,21(1):21-30.
[13] BARBER C B,DOBKIN D P,HUHDANPAA H.The quickhull algorithm for convex hulls[J].Acm Transactions on Mathematical Software,1998,22(4):469-483.
[14] LABBE M,MICHAUD F.Appearance-based loop closure detection for online large-scale and long-term operation[J].IEEE Transactions on Robotics,2013,29(3):734-745.
[15] STURM J,ENGELHARD N,ENDRES F,et al.A benchmark for the evaluation of RGB-D SLAM systems[C]∥IEEE International Conference on Intelligent Robots and Systems.Algarve:IEEE,2012:573-580.
[16] ENGEL J,STüCKLER J,CREMERS D.Large-scale direct SLAM with stereo cameras[C]∥IEEE International Conference on Intelligent Robots and Systems.Hamburg:IEEE,2015:1935-1942.
[17] FROST D P,K?HLER O,MURRAY D W.Object-aware bundle adjustment for correcting monocular scale drift[C]∥IEEE International Conference on Robotics and Automation.Stockholm:IEEE,2016:4770-4776.

备注/Memo

备注/Memo:
收稿日期:2017-04-26 录用日期:2017-09-26
基金项目:国家自然科学基金(61274133)
*通信作者:yunfengwang@xmu.edu.cn
引文格式:翁秀玲,王云峰,吴炜,等.基于局内点分布的图优化方法[J].厦门大学学报(自然科学版),2018,57(2):265-270.
Citation:WENG X L,WANG Y F,WU W,et al.Graph optimization method based on inlier distribution[J].J Xiamen Univ Nat Sci,2018,57(2):265-270.(in Chinese)
更新日期/Last Update: 1900-01-01