【摘要】：關(guān)鍵幀選擇是提高視覺SLAM(simultaneous localization and mapping)算法精度及實(shí)時(shí)性的重要因素.關(guān)鍵幀常以圖像的幀間相對(duì)運(yùn)動(dòng)距離為選擇依據(jù).該方法雖簡(jiǎn)單有效,但實(shí)時(shí)性、魯棒性較差且容易產(chǎn)生大量冗余關(guān)鍵幀.針對(duì)上述問題,提出一種改進(jìn)的關(guān)鍵幀選擇算法.該算法整合了幀間相對(duì)運(yùn)動(dòng)距離、幀間特征點(diǎn)跟蹤以及最小視覺變化來選擇關(guān)鍵幀并刪除冗余關(guān)鍵幀.基于該算法,結(jié)合具有較好方向和光照不變性的ORB(oriented FAST and rotated BRIEF)特征,實(shí)現(xiàn)了RGB-D SLAM算法.在RGB-D數(shù)據(jù)集上的實(shí)驗(yàn)表明,改進(jìn)的關(guān)鍵幀選擇算法能夠更精準(zhǔn)、及時(shí)地選擇關(guān)鍵幀,并在減少RGB-D SLAM中冗余關(guān)鍵幀的同時(shí)提高算法的實(shí)時(shí)性、建圖和定位精度.
[Abstract]:Key frame selection is an important factor to improve the accuracy and real time of visual SLAM (simultaneous localization and mapping) algorithm. Key frames are often selected on the basis of the relative motion distance between frames. This method is simple and effective, but real-time, robust and easy to produce a large number of redundant key frames. To solve the above problems, an improved key-frame selection algorithm is proposed. The algorithm integrates the relative motion distance between frames, the tracking of feature points between frames and the minimum visual change to select key frames and delete redundant key frames. Based on this algorithm, the RGB-D SLAM algorithm is implemented by combining the ORB (oriented FAST and rotated BRIEF) features with good orientation and illumination invariance. Experiments on RGB-D dataset show that the improved key-frame selection algorithm can select key-frame more accurately and timely, and improve the real-time, mapping and positioning accuracy of the algorithm while reducing redundant key-frames in RGB-D SLAM.
【作者單位】： 杭州電子科技大學(xué)自動(dòng)化學(xué)院;
【基金】：國(guó)家自然科學(xué)基金資助項(xiàng)目(61175093)
【分類號(hào)】：TP391.41
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本文編號(hào)：2215831