[1]顾照鹏,刘宏.单目视觉同步定位与地图创建方法综述[J].智能系统学报编辑部,2015,10(04):499-507.[doi:10.3969/j.issn.1673-4785.201503003]
 GU Zhaopeng,LIU Hong.A survey of monocular simultaneous localization and mapping[J].CAAI Transactions on Intelligent Systems,2015,10(04):499-507.[doi:10.3969/j.issn.1673-4785.201503003]
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单目视觉同步定位与地图创建方法综述(/HTML)
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《智能系统学报》编辑部[ISSN:1673-4785/CN:23-1538/TP]

卷:
第10卷
期数:
2015年04期
页码:
499-507
栏目:
出版日期:
2015-08-25

文章信息/Info

Title:
A survey of monocular simultaneous localization and mapping
作者:
顾照鹏1 刘宏12
1. 北京大学 深圳研究生院 物联网智能感知工程实验室, 广东 深圳 518055;
2. 北京大学 机器感知与智能教育部重点实验室, 北京 100871
Author(s):
GU Zhaopeng1 LIU Hong12
1. Engineering Lab on Intelligent Perception for Internet of Things (ELIP), Shenzhen Graduate School, Peking University, Shenzhen 518055, China;
2. Key Laboratory of Machine Perception, Peking University, Beijing 100871, China
关键词:
单目视觉同步定位与地图创建扩展卡尔曼滤波器计算机视觉特征检测与匹配
Keywords:
monocular visionsimultaneous localization and mappingextended Kalman filtercomputer visionfeature detection and matching
分类号:
TP391
DOI:
10.3969/j.issn.1673-4785.201503003
文献标志码:
A
摘要:
随着计算机视觉技术的发展,基于单目视觉的同步定位与地图创建(monocular SLAM)逐渐成为计算机视觉领域的热点问题之一。介绍了单目视觉SLAM方法的分类,从视觉特征检测与匹配、数据关联的优化、特征点深度的获取、地图的尺度控制几个方面阐述了单目视觉SLAM研究的发展现状。最后,介绍了常见的单目视觉与其他传感器结合的SLAM方法,并探讨了单目视觉SLAM未来的研究方向。
Abstract:
With the development of computer vision technology, monocular simultaneous localization and mapping (monocular SLAM) has gradually become one of the hot issues in the field of computer vision. This paper introduces the monocular vision SLAM classification that relates to the present status of research in monocular SLAM methods from several aspects, including visual feature detection and matching, optimization of data association, depth acquisition of feature points, and map scale control. Monocular SLAM methods combining with other sensors are reviewed and significant issues needing further study are discussed.

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备注/Memo

备注/Memo:
收稿日期:2015-03-03;改回日期:。
基金项目:国家863计划资助项目(2006AA04Z247);国家自然科学基金资助项目(60875050,60675025,61340046);深圳市科技计划项目及基础研究计划资助项目(201005280682A,JCYJ20120614152234873);教育部高等学校博士学科点专项科研基金资助项目(20130001110011).
作者简介:顾照鹏,男,1981年生,博士后,IEEE会员,主要研究方向为单目视觉SLAM、移动机器人视觉导航。发表学术论文10余篇,被EI、SCI检索10篇;刘宏,男,1967年生,教授,博士生导师,国家“万人计划”首批入选专家,国家“中青年科技创新领军人才”,IEEE会员,国际机器人足球联盟(FIRA)竞赛委员会委员,中国人工智能学会常务理事、副秘书长、青年工作委员会主任,中国自动化学会智能自动化专业委员会委员。主要研究方向为模式识别、智能信息处理与计算机视觉。发表学术论文100余篇,其中被EI、SCI检索50余篇。
通讯作者:顾照鹏.E-mail:guzp@pkusz.edu.cn.
更新日期/Last Update: 2015-08-28