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

基于特征点法和直接法VSLAM的研究

Research of feature-based and direct methods VSLAM

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作者 邹雄,肖长诗,文元桥,元海文
机构 1.武汉理工大学 航运学院,武汉 430063;2.内河航运技术湖北省重点实验室,武汉 430063;3.国家水运安全工程技术研究中心,武汉 430063
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文章编号 1001-3695(2020)05-001-1281-11
DOI 10.19734/j.issn.1001-3695.2018.11.0789
摘要 基于视觉的同时定位和建图(VSLAM)分为前端和后端,前端包括视觉里程计和回环检测,后端包括后端优化和建图。按照估计相机运动的不同方式,将VSLAM分为特征点法和直接法,首先从这两个方面对前端进行综述,阐述其中的关键技术和最新的研究进展,对比分析不同方法的优缺点;然后详细分析优化后端与滤波器后端的区别,进一步对多个开源代码进行比较研究,分析它们的优劣势和适用场合;再讨论深度学习、语义地图和多机器人在VSLAM领域的研究进展,以及相关技术与VSLAM的结合方式及前景;最后对VSLAM的未来进行展望。
关键词 VSLAM; 视觉里程计; 特征点法; 直接法; 非线性优化
基金项目 国家自然科学基金资助项目(51579204,51679180)
武汉理工大学自主创新研究基金资助项目(2016IVA064,2016-YB-029)
本文URL http://www.arocmag.com/article/01-2020-05-001.html
英文标题 Research of feature-based and direct methods VSLAM
作者英文名 Zou Xiong, Xiao Changshi, Wen Yuanqiao, Yuan Haiwen
机构英文名 1.School of Navigation,Wuhan University of Technology,Wuhan 430063,China;2.Hubei Key Laboratory of Inland Shipping Technology,Wuhan 430063,China;3.National Engineering Research Center for Water Transport Safety,Wuhan 430063,China
英文摘要 VSLAM is divided into front-end and back-end. The front-end includes visual odometry and loop detection, and the back-end includes back-end optimization and mapping. This paper divided VSLAM into feature-based method and direct method according to different ways of estimating camera motion. Firstly, it summarized the front-end from these two aspects, elaborated the key technologies and the latest research progress, compared and analyzed the different methods. Then, it analyzed the differences between the optimize back-end and the filter back-end in detail, and compared the advantages and disadvantages of several open source codes and their applicable occasions. Further, it introduced the research progress of deep learning, semantic mapping and multi-robots in VSLAM, and discussed the combination of related technologies with VSLAM and its prospects. Finally, it prospected the future of VSLAM.
英文关键词 VSLAM; VO; feature-based method; direct method; nonlinear optimization
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收稿日期 2018/11/10
修回日期 2019/1/17
页码 1281-1291
中图分类号 TP391.41
文献标志码 A