[1]张毅,陈起,罗元.室内环境下移动机器人三维视觉SLAM[J].智能系统学报编辑部,2015,10(4):615-619.[doi:10.3969/j.issn.1673-4785.201504003]
ZHANG Yi,CHEN Qi,LUO Yuan.Three dimensional visual SLAM for mobile robots in indoor environments[J].CAAI Transactions on Intelligent Systems,2015,10(4):615-619.[doi:10.3969/j.issn.1673-4785.201504003]
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ZHANG Yi,CHEN Qi,LUO Yuan.Three dimensional visual SLAM for mobile robots in indoor environments[J].CAAI Transactions on Intelligent Systems,2015,10(4):615-619.[doi:10.3969/j.issn.1673-4785.201504003]
室内环境下移动机器人三维视觉SLAM
《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:
615-619
栏目:
学术论文—机器感知与模式识别
出版日期:
2015-08-25
- Title:
- Three dimensional visual SLAM for mobile robots in indoor environments
- Keywords:
- mobile robot; Kinect camera; SLAM; point cloud registration; trajectory tracking; robot navigation; robustness
- 分类号:
- TP24
- 文献标志码:
- A
- 摘要:
- 在移动机器人三维视觉SLAM中,针对点云配准过程存在的匹配误差较大、效率低下的问题,提出一种分层式点云配准策略。利用RANSAC算法对可能存在的误匹配点进行剔除完成初始配准,对所得内点进行最小二乘算法下机器人相邻位姿的估计,并采用改进的ICP算法完成精确配准,最后采用g20优化方法对移动机器人位姿进行优化。针对点云拼接结果中存在重复点过多以及空洞的问题,引入基于体积空间融合的匹配算法对空洞进行填补。实验验证了本文所提方法能够准确重构出环境三维模型和精确估计出移动机器人的运动轨迹,并有效去除拼接结果中的重复点,填补了空洞。
- Abstract:
- In this paper, it aiming at the problems of large matching error and inefficiency in the process of point cloud registration in mobile robots 3D visual SLAM, a hierarchical point cloud registration strategy is proposed. It completes the initial registration by eliminating possible false matching points by RANSAC algorithm and then estimates the robot adjacent pose using the least square algorithm of interior points. Meanwhile, accurate registration is completed by the improved ICP algorithm and finally the mobile robot pose is optimized by the g20 optimization method. Addressing the problem of too much repeated points and hole existing in point cloud splicing results, a matching algorithm based on volume space fusion is introduced to fill the hole. Experimental results obtained demonstrated that the proposed method can accurately reconstruct the 3D model and estimate the trajectory of the mobile robot, and can effectively remove the repeated points and fill the hole.
- 参考文献/References:
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备注/Memo
收稿日期:2015-04-07;改回日期:。
基金项目:国家自然科学基金资助项目(51075420).
作者简介:张毅,男,1966年生,教授,博士生导师,中国人工智能学会理事,国家信息无障碍研发中心主任,主要研究方向为智能系统与移动机器人、机器视觉与模式识别、多传感器信息融合。主持完成国家级和省部基金项目10余项,发表学术论文160余篇,SCI、EI收录80余篇,获国家发明专利10余项;陈起,男,1991年生,硕士,主要研究方向为机器人同时定位与地图创建(SLAM)、机器人三维视觉导航;罗元,女,1972年生,教授,博士,美国OSA、SPIE、中国仪器仪表学会、中国光学学会高级会员,主要研究方向为人机交互、基于图像视频处理的人机交互、基于图像视频处理的测试。主持和参与国家、省部基金项目10余项,发表学术论文100余篇,被SCI、EI收录40余篇,获国家发明专利6项。
通讯作者:陈起.E-mail:chenqisansan@163.com.
更新日期/Last Update:
2015-08-28