《计算机应用研究》|Application Research of Computers

基于直接法的视觉同时定位与地图构建技术综述

Survey on direct-method visual simultaneous localization and mapping

免费全文下载 (已被下载 次)  
获取PDF全文
作者 潘林豪,田福庆,应文健,邱千钧
机构 1.海军工程大学 兵器院,武汉 430033;2.海军驻航天二院代表室,北京 100854
统计 摘要被查看 次,已被下载
文章编号 1001-3695(2019)04-001-0961-06
DOI 10.19734/j.issn.1001-3695.2018.01.0123
摘要 视觉同时定位与地图构建(V-SLAM)在机器人、无人机导航、自动驾驶等领域有着广泛的研究。直接法V-SLAM基于环境亮度不变性假设,跟踪相机的位姿并构建环境地图。针对直接法V-SLAM,首先简述其基本原理;然后分析、比较几种具有代表性的直接法V-SLAM系统;最后讨论直接法的优缺点和发展趋势,并进行了总结和展望。
关键词 计算机视觉; 同时定位与地图构建; 直接法; 运动推断结构; 多视图几何
基金项目 海军工程大学自主立项基金资助项目
本文URL http://www.arocmag.com/article/01-2019-04-001.html
英文标题 Survey on direct-method visual simultaneous localization and mapping
作者英文名 Pan Linhao, Tian Fuqing, Ying Wenjian, Qiu Qianjun
机构英文名 1.College of Weapon,Naval Engineering University,Wuhan 430033,China;2.Naval Representative Office in the 2nd Academy of CASA,Beijing 100854,China
英文摘要 Visual simultaneous localization and mapping has a wide range of research in the fields of robot, unmanned aerial vehicle navigation, automatic driving, et al. Direct-method V-SLAM, based on the assuption of photometric consistency, tracks the camera's position and orientation and builds an environment map. For the direct-method V-SLAM, this paper summarized the basic principles, and introduced some state-of-art direct-method V-SLAM systems with analysis and comparison. Finally, it discussed the advantages and disadvantages of direct-method V-SLAM and some research tendency, as well as making conclusion.
英文关键词 computer vision; simultaneous localization and mapping; direct-method; structure-from-motion; multiple-view geometry
参考文献 查看稿件参考文献
 
收稿日期 2018/1/21
修回日期 2018/3/15
页码 961-966
中图分类号 TP242.62
文献标志码 A