计算机科学 ›› 2023, Vol. 50 ›› Issue (6A): 220400171-5.doi: 10.11896/jsjkx.220400171
王海芳, 李鸣飞, 李广宇, 崔阳阳
WANG Haifang, LI Mingfei, LI Guangyu, CUI Yangyang
摘要： 针对在地图物体位姿识别中估计惯性测量和视觉轨迹识别繁多和图像位姿边缘精度不精确的情况,提出了一种改进点线视觉惯性测程算法(PL-VIO)。在视觉前端,利用亚像素边缘提取方法对图像边缘角点进行迭代和精度提升,并对提取的角点进行边缘化约束,防止边缘的角点存在亚像素边缘检测越界问题。在视觉后端,为了提高提取精度和减少线特征的重复提取,对LSD提取后的线特征和点特征进行提取优化,在SFM之后对提取的线特征进行线合并,并删除冗余线。基于ROS平台利用EuRoc数据集进行实验,并把得到的实验数据导入到Evo中,利用Evo对实验数据进行分析和轨迹绘制,评定误差参数,实验结果中误差参数的整体减小证明了改进PL-VIO算法的优越性和准确性。
中图分类号:
| [1]YIJIA H,JI Z,YUE G,et al.PL-VIO:Tightly-Coupled Monocular Visual-Inertial Odometry Using Point and Line Features[J].Sensors,2018,18(4):1159. [2]WEISS S,SIEGWART R.Real-time metric state estimation for modular vision-inertial systems[C]//Proceedings of the 2011 IEEE International Conference on Robotics and Automation(ICRA).Shanghai,China:IEEE,2011:4531-4537. [3]FORSTER C,CARLONE L,DELLAERT F,et al.On-Manifold Preintegration for Real-Time Visual-Inertial Odometry[J].IEEE Transactions on Robotics,2017,33(1):1-21. [4]JONES E S,SOATTO S.Visual-inertial navigation,mappingand localization:A scalable real-time causal approach[J].The International Journal of Robotics Research,2011,30(4),407-430. [5]MOURIKIS A I,ROUMELIOTIS S I. A multi-state constraint Kalman fifilter for vision-aided inertial navigation[C]//Proceedings of the 2007 IEEE International Conference on Robotics and Automation.Roma,Italy:IEEE,2007:3565-3572. [6]LUPTON T,SUKKARIEH S.Visual-inertial-aided navigationfor high-dynamic motion in built environments without initial conditions[J].IEEE Transactions on Robotics,2012,28(1):61-76. [7]LIU Y,ROUMELIOTIS S I.Effificient and consistent vision-aided inertial navigation using line observations[C]//Proceedings of the 2013 IEEE International Conference on Robotics and Automation(ICRA).Karlsruhe,Germany:IEEE,2013:1540-1547. [8]LEUTENEGGER S,LYNEN S,BOSSE M,et al.Keyframe-based visual-inertial odometry using nonlinear optimization[J].International Journal of Robotics Research,2015,34(3):314-334. [9]SHEN S,MICHAEL N,KUMAR V,et al.Tightly-coupled monocular visual-inertial fusion for autonomous flight of rotorcraft MAVs[C]//Proceedings of the 2015 IEEE International Conference on Robotics and Automation(ICRA).Seattle,WA,USA:IEEE,2015:5303-5310. [10]BARTOLI A,STURM P.The 3D line motion matrix and alignment of line reconstructions[J].International Journal of Computer Vision,2004,57(1):159-178. [11]KONG X,WU W,ZHANG L,et al.Tightly-coupled stereo vi-sual-inertial navigation using point and line features[J].Sensors,2015,15(6):12816-12833. [12]WANG Z R,YANG C G,DAI S L.A Fast Compression Frame-work Based on 3D Point Cloud Data for Telepresence.s[J].International Journal of Automation and Computing,2020,17(6):855-866. [13]FU Q, CHEN X Y, HE W.A Survey on 3D Visual Tracking of Multicopters[J].International Journal of Automation and Computing,2021,16(6):707-719. [14]VON GIOI R G,JAKUBOWICZ J,MOREL J M,et al.LSD:A fast line segment detector with a false detection control[J].IEEE Transactions on Pattern Analysis & Machine Intelligence,2010,32(2):722-732. [15]ZHANG L,KOCH R.An effificient and robust line segmentmatching approach based on LBD descriptor and pairwise geometric consistency[J].Journal of Visual Communication and Image Representation,2013,24(7):794-805. |
|
||
首页