[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(4):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(4):499-507.[doi:10.3969/j.issn.1673-4785.201503003]
点击复制
GU Zhaopeng,LIU Hong.A survey of monocular simultaneous localization and mapping[J].CAAI Transactions on Intelligent Systems,2015,10(4):499-507.[doi:10.3969/j.issn.1673-4785.201503003]
单目视觉同步定位与地图创建方法综述
《智能系统学报》编辑部[ISSN 1673-4785/CN 23-1538/TP] 卷:
10
期数:
2015年第4期
页码:
499-507
栏目:
综述
出版日期:
2015-08-25
- Title:
- A survey of monocular simultaneous localization and mapping
- Keywords:
- monocular vision; simultaneous localization and mapping; extended Kalman filter; computer vision; feature detection and matching
- 分类号:
- TP391
- 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.
- 参考文献/References:
-
[1] SMITH R, CHEESEMAN P. On the representation and estimation of spatial uncertainty[J]. The International Journal of Robotics Research, 1987, 5(4): 56-68.
[2] KALMAN R E. A new approach to linear filtering and prediction problems[J]. Journal of Basic Engineering, 1960, 82(1): 35-45.
[3] DAVISON A J. SLAM with a single camera[C]// Proceedings of Workshop on Concurrent Mapping and Localization for Autonomous Mobile Robots in Conjunction with ICRA. 2002.
[4] DAVISON A J, MURRAY D W. Simultaneous localization and map-building using active vision[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2002, 24(7): 865-880.
[5] DAVISON A J, MAYOL W W, MURRAY D W. Real-time localisation and mapping with wearable active vision[C]// Proceedings of 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality. Washington, DC: IEEE, 2003: 315-316.
[6] DAVISON A J. Real-time simultaneous localisation and mapping with a single camera[C]// Proceedings of the Ninth IEEE International Conference on Computer Vision. Washington, DC: IEEE, 2003: 1403-1410.
[7] DAVISON A J, CID Y G, KITA N. Real-time 3D slam with wide-angle vision[C]// Proceedings of IFAC Symposium on Intelligent Autonomous Vehicles. Lisbon, 2004.
[8] DAVISON A J, REID I D, MOLTON N D, et al. MonoSLAM: Real-time single camera SLAM[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2007, 29(6): 1052-1067.
[9] LEMAIRE T, LACROIX S, SOLà J. A practical 3D bearing-only SLAM algorithm[C]// 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. Edmonton: IEEE, 2005: 2449-2454.
[10] ROUSSILLON C, GONZALEZ A, SOLà J, et al. RT-SLAM: a generic and real-time visual SLAM implementation[M]// CROWLEY J L, DRAPER B A, THONNAT M, et al. Computer Vision Systems. Berlin: Springer, 2011: 31-40.
[11] SIM R, ELINAS P, GRIFFIN M, et al. Vision-based SLAM using the Rao-Blackwellised particle filter[C]//IJCAI Workshop on Reasoning with Uncertainty in Robotics. Edinburgh, Scotland, 2005: 9-16.
[12] PUPILLI M, CALWAY A. Real-time camera tracking using a particle filter[C]// Proceedings of British Machine Vision Conference. 2005: 519-528.
[13] PUPILLI M, CALWAY A. Real-time camera tracking using known 3d models and a particle filter[C]//IEEE International Conference on Pattern Recognition. Washington, DC: IEEE, 2006, 1: 199-203.
[14] PUPILLI M, CALWAY A. Particle filtering for robust single camera localisation[C]//International Workshop on Mobile Vision. 2006: 1-14.
[15] LI Maohai, HONG Bingrong, CAI Zesu, et al. Novel Rao-Blackwellized particle filter for mobile robot SLAM using monocular vision[J]. International Journal of Intelligent Technology, 2006, 1(1): 63-69.
[16] YAP T, LI Mingyang, MOURIKIS A I, et al. A particle filter for monocular vision-aided odometry[C]//2011 IEEE International Conference on Robotics and Automation (ICRA). Shanghai: IEEE, 2011: 5663-5669.
[17] ANDRADE-CETTO J, VIDAL-CALLEJA T, SANFELIU A. Unscented transformation of vehicle states in SLAM[C]// Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Barcelona: IEEE, 2005: 323-328.
[18] MARTINEZ-CANTIN R, CASTELLANOS J A. Unscented SLAM for large-scale outdoor environments[C]//2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. Edmonton: IEEE, 2005: 3427-3432.
[19] MOURAGNON E, LHUILLIER M, DHOME M, et al. Monocular vision based SLAM for mobile robots[C]//18th International Conference on Pattern Recognition. Hong Kong: IEEE, 2006: 1027-1031.
[20] KLEIN G, MURRAY D. Parallel tracking and mapping for small AR workspaces[C]//6th IEEE and ACM International Symposium on Mixed and Augmented Reality. Nara: IEEE, 2007: 225-234.
[21] KLEIN G, MURRAY D. Improving the agility of keyframe-based SLAM[M]// FORSYTH D, TORR P, ZISSERMAN A, et al. Computer Vision-ECCV 2008. Berlin: Springer, 2008: 802-815.
[22] EADE E, DRUMMOND T. Monocular SLAM as a graph of coalesced observations[C]//IEEE 11th International Conference on Computer Vision. Rio de Janeiro: IEEE, 2007: 1-8.
[23] STRASDAT H, MONTIEL J M M, DAVISON A J. Scale drift-aware large scale monocular SLAM[J]. Robotics: Science and Systems, 2010, 2(3): 5.
[24] HARRIS C, STEPHENS M. A combined corner and edge detector[C]//Proceedings of the 4th Alvey Vision Conference. 1988, 15: 147-151.
[25] MORAVEC H P. Obstacle avoidance and navigation in the real world by a seeing robot rover[R]. Stanford: Stanford University, 1980.
[26] MUNGUIA R, GRAU A. Monocular SLAM for visual odometry[C]// IEEE International Symposium on Intelligent Signal Processing. Alcala de Henares: IEEE, 2007: 1-6.
[27] LEMAIRE T, BERGER C, JUNG I K, et al. Vision-based slam: Stereo and monocular approaches[J]. International Journal of Computer Vision, 2007, 74(3): 343-364.
[28] GIL A, REINOSO O, MOZOS O M, et al. Improving data association in vision-based SLAM[C]// 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006: 2076-2081.
[29] AVANZINI P, ROYER E, THUILOT B, et al. Using monocular visual SLAM to manually convoy a fleet of automatic urban vehicles[C]//2013 IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe: IEEE, 2013: 3219-3224.
[30] SHI J, TOMASI C. Good features to track[C]//1994 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. Seattle: IEEE, 1994: 593-600.
[31] SHEN S, MULGAONKAR Y, MICHAEL N, et al. Vision-based state estimation for autonomous rotorcraft MAVs in complex environments[C]//2013 IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe: IEEE, 2013: 1758-1764.
[32] ROSTEN E, DRUMMOND T. Machine learning for high-speed corner detection[M]// LEONARDIS A, BISCHOF H, PINZ A, et al. Computer Vision-ECCV 2006. Berlin: Springer, 2006: 430-443.
[33] WILLIAMS B, KLEIN G, REID I. Real-time SLAM relocalisation[C]//IEEE 11th International Conference on Computer Vision. Rio de Janeiro: IEEE, 2007: 1-8.
[34] WILLIAMS B, KLEIN G, REID I. Automatic relocalization and loop closing for real-time monocular SLAM[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2011, 33(9): 1699-1712.
[35] SONG S Y, CHANDRAKER M, GUEST C C. Parallel, real-time monocular visual odometry[C]//2013 IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe: IEEE, 2013: 4698-4705.
[36] LOWE D G. Object recognition from local scale-invariant features[C]// The Proceedings of the Seventh IEEE International Conference on Computer Vision, 1999. Kerkyra: IEEE, 1999, 2: 1150-1157.
[37] LOWE D G. Distinctive image features from scale-invariant keypoints[J]. International Journal of Computer Vision, 2004, 60(2): 91-110.
[38] CHEN C H, CHAN Y P. SIFT-based monocluar SLAM with inverse depth parameterization for robot localization[C]// IEEE Workshop on Advanced Robotics and Its Social Impacts. Hsinchu: IEEE, 2007: 1-6.
[39] FOLKESSON J, CHRISTENSEN H. Sift based graphical slam on a packbot[M]//Roland C L, ed. Field and Service Robotics: Results of the 6th International Conference. Berlin: Springer, 2008, 42: 317-328.
[40] ZHAO L, HUANG S D, YAN L, et al. Large-scale monocular SLAM by local bundle adjustment and map joining[C]// 2010 11th IEEE International Conference on Control Automation Robotics & Vision (ICARCV). Singapore: IEEE, 2010: 431-436.
[41] SáNCHEZ J R, ALVAREZ H, BORRO D. Towards real time 3D tracking and reconstruction on a GPU using Monte Carlo simulations[C]//2010 9th IEEE International Symposium on Mixed and Augmented Reality (ISMAR). Seoul: IEEE, 2010: 185-192.
[42] WARREN M, MCKINNON D, HE H, et al. Large scale monocular vision-only mapping from a fixed-wing sUAS[M]// YOSHIDA K, TADOKORO S, et al. Field and Service Robotics. Berlin: Springer, 2014, 92: 495-509.
[43] YAN K, SUKTHANKAR R. PCA-SIFT: A more distinctive representation for local image descriptors[C]// Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. Washington, DC: IEEE, 2004, 2: II-506-II-513.
[44] BAY H, TUYTELAARS T, VAN GOOL L. SURF: Speeded up robust features[M]// LEONARDIS A, BISCHOF H, PINZ A, et al. Computer Vision-ECCV 2006. Berlin: Springer, 2006: 404-417.
[45] ZHANG Z Y, HUANG Y L, LI C, et al. Monocular vision simultaneous localization and mapping using SURF[C]//7th World Congress on Intelligent Control and Automation, 2008. Chongqing: IEEE, 2008: 1651-1656.
[46] CIVERA J, GáLVEZ-LóPEZ D, RIAZUELO L, et al. Towards semantic SLAM using a monocular camera[C]//2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). San Francisco: IEEE, 2011: 1277-1284.
[47] CALONDER M, LEPETIT V, OZUYSAL M, et al. BRIEF: Computing a local binary descriptor very fast[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2012, 34(7): 1281-1298.
[48] RUBLEE E, RABAUD V, KONOLIGE K, et al. ORB: an efficient alternative to SIFT or SURF[C]//2011 IEEE International Conference on Computer Vision (ICCV). Barcelona: IEEE, 2011: 2564-2571.
[49] JUN L, PAN T S, TSENG K K, et al. Design of a monocular simultaneous localisation and mapping system with ORB feature[C]//Multimedia and Expo (ICME), 2013 IEEE International Conference on IEEE, 2013: 1-4.
[50] LI J, PAN T S, TSENG K K, et al. Design of a monocular simultaneous localisation and mapping system with ORB feature[C]//2013 IEEE International Conference on Multimedia and Expo (ICME). San Jose: IEEE, 2013: 1-4.
[51] LEMAIRE T, LACROIX S. Monocular-vision based SLAM using line segments[C]//2007 IEEE International Conference on Robotics and Automation. Roma: IEEE, 2007: 2791-2796.
[52] SOLà J, VIDAL-CALLEJA T, DEVY M. Undelayed initialization of line segments in monocular SLAM[C]// IEEE/RSJ International Conference on Intelligent Robots and Systems. St. Louis: IEEE, 2009: 1553-1558.
[53] CONCHA A, CIVERA J. Using superpixels in monocular SLAM[C]//2014 IEEE International Conference on Robotics and Automation (ICRA). Hong Kong: IEEE, 2014: 365-372.
[54] WEISS S, SIEGWART R. Real-time metric state estimation for modular vision-inertial systems[C]//2011 IEEE International Conference on Robotics and Automation (ICRA). Shanghai: IEEE, 2011: 4531-4537.
[55] JAMA M, SCHINSTOCK D. Parallel tracking and mapping for controlling VTOL airframe[J]. Journal of Control Science and Engineering, 2011: 413074.
[56] DAVISON A J. Active search for real-time vision[C]//Tenth IEEE International Conference on Computer Vision. Beijing: IEEE, 2005, 1: 66-73.
[57] CHLI M, DAVISON A J. Active matching[M]// FORSYTH D, TORR P, ZISSERMAN A, et al. Computer Vision-ECCV 2008. Berlin: Springer, 2008: 72-85.
[58] CHLI M, DAVISON A J. Active matching for visual tracking[J]. Robotics and Autonomous Systems, 2009, 57(12): 1173-1187.
[59] CIVERA J, GRASA O G, DAVISON A J, et al. 1-point RANSAC for EKF-based structure from motion[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. St. Louis: IEEE, 2009: 3498-3504.
[60] CIVERA J, GRASA O G, DAVISON A J, et al. 1-Point RANSAC for extended Kalman filtering: Application to real-time structure from motion and visual odometry[J]. Journal of Field Robotics, 2010, 27(5): 609-631.
[61] EADE E, DRUMMOND T. Scalable monocular SLAM[C]//2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. New York: IEEE, 2006, 1: 469-476.
[62] GUERRA E, MUNGUIA R, BOLEA Y, et al. Validation of data association for monocular SLAM[J]. Mathematical Problems in Engineering, 2013:1-11.
[63] MUNGUíA R, GRAU A. Monocular SLAM for visual odometry: A full approach to the delayed inverse-depth feature initialization method[J]. Mathematical Problems in Engineering, 2012: 676385.
[64] CIVERA J, DAVISON A J, MONTIEL J M M. Inverse depth to depth conversion for monocular SLAM[C]//2007 IEEE International Conference on Robotics and Automation. Roma: IEEE, 2007: 2778-2783.
[65] PIETZSCH T. Efficient feature parameterisation for visual SLAM using inverse depth bundles[C]// EVERINGHAM M, NEEDHAM C, et al. Proceedings of the British Machine Vision Conference 2008. BMVC Press, 2008: 1-10.
[66] IMRE E, BERGER M O, NOURY N. Improved inverse-depth parameterization for monocular simultaneous localization and mapping[C]//IEEE International Conference on Robotics and Automation. Kobe: IEEE, 2009: 381-386.
[67] FORSTER C, PIZZOLI M, SCARAMUZZA D. SVO: fast semi-direct monocular visual odometry[C]//2014 IEEE International Conference on Robotics and Automation. Hong Kong: IEEE, 2014.
[68] STRASDAT H, MONTIEL J M M, DAVISON A J. Scale drift-aware large scale monocular SLAM[C]// Proceedings of Robotics Robotics: Science and Systems. 2010.
[69] TANSKANEN P, KOLEV K, MEIER L, et al. Live metric 3d reconstruction on mobile phones[C]//2013 IEEE International Conference on Computer Vision (ICCV). Sydney: IEEE, 2013: 65-72.
[70] AZUMA R, BISHOP G. Improving static and dynamic registration in an optical see-through HMD[C]// Proceedings of the 21st ACM Conference on Computer Graphics and Interactive Techniques. New York: ACM, 1994: 197-204.
[71] NVTZI G, WEISS S, SCARAMUZZA D, et al. Fusion of IMU and vision for absolute scale estimation in monocular SLAM[J]. Journal of Intelligent & Robotic Systems, 2011, 61(1-4): 287-299.
[72] JOHNSON A, WILLSON R, GOGUEN J, et al. Field testing of the mars exploration rovers descent image motion estimation system[C]// Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Barcelona: IEEE, 2005: 4463-4469.
[73] LANG P, PINZ A. Calibration of hybrid vision/inertial tracking systems[C]//Proceedings of the 2nd InerVis: Workshop on Integration of Vision and Inertial Sensors. Barcelona, Spain, 2005.
[74] 顾照鹏, 董秋雷. 基于部分惯性传感器信息的单目视觉同步定位与地图创建方法[J]. 计算机辅助设计与图形学学报, 2012, 24(2): 155-160. GU Zhaopeng, DONG Qiulei. Monocular SLAM based on partial inertial measurement unit information[J]. Journal of Computer-Aided Design & Computer Graphics, 2012, 24(2): 155-160.
[75] LIU H, ZHOU Y L, GU Z P. Inertial measurement unit-camera calibration based on incomplete inertial sensor information[J]. Journal of Zhejiang University: Science C, 2014, 15(11): 999-1008.
[76] FU S, LIU H F, GAO L F, et al. SLAM for mobile robots using laser range finder and monocular vision[C]// 14th International Conference on Mechatronics and Machine Vision in Practice. Xiamen: IEEE, 2007: 91-96.
[77] ZHANG Q, PLESS R. Extrinsic calibration of a camera and laser range finder (improves camera calibration)[C]// 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems. Sendai: IEEE, 2004, 3: 2301-2306.
[78] JEONG W, LEE K M. CV-SLAM: A new ceiling vision-based SLAM technique[C]//2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. Edmonton: IEEE, 2005: 3195-3200.
[79] GEIGER A, ZIEGLER J, STíLLER C. StereoScan: Dense 3d reconstruction in real-time[C]// 2011 IEEE Intelligent Vehicles Symposium (IV). Baden-Baden: IEEE, 2011: 963-968.
- 相似文献/References:
-
[1]蒲兴成,谭少峰,张毅.基于改进FAST算法的移动机器人导航[J].智能系统学报编辑部,2014,9(4):419.[doi:10.3969/j.issn.1673-4785.201305076]
PU Xingcheng,TAN Shaofeng,ZHANG Yi.Research on the navigation of mobile robots based on the improved FAST algorithm[J].CAAI Transactions on Intelligent Systems,2014,9():419.[doi:10.3969/j.issn.1673-4785.201305076]
[2]权美香,朴松昊,李国.视觉SLAM综述[J].智能系统学报编辑部,2016,11(6):768.[doi:10.11992/tis.201607026]
QUAN Meixiang,PIAO Songhao,LI Guo.An overview of visual SLAM[J].CAAI Transactions on Intelligent Systems,2016,11():768.[doi:10.11992/tis.201607026]
[3]杨会成,朱文博,童英.基于车内外视觉信息的行人碰撞预警方法[J].智能系统学报编辑部,2019,14(4):752.[doi:10.11992/tis.201801016]
YANG Huicheng,ZHU Wenbo,TONG Ying.Pedestrian collision warning system based on looking-in and looking-out visual information analysis[J].CAAI Transactions on Intelligent Systems,2019,14():752.[doi:10.11992/tis.201801016]
[4]伍明,李广宇,魏振华,等.纯方位角目标跟踪及移动平台可观性控制方法[J].智能系统学报编辑部,2022,17(5):919.[doi:10.11992/tis.202107066]
WU Ming,LI Guangyu,WEI Zhenhua,et al.Bearing only target tracking and observability control of a mobile robot[J].CAAI Transactions on Intelligent Systems,2022,17():919.[doi:10.11992/tis.202107066]
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,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