SIA OpenIR  > 机器人学研究室
Alternative TitleSimultaneous localization and mapping for UGVs with binocular camera
段华旭; 闫飞; 庄严; 卜春光
Source Publication华中科技大学学报(自然科学版)
Indexed ByEI
EI Accession number20154401471247
Contribution Rank2
Funding Organization“十二五”国家科技支撑计划重点资助项目(2013BAK03B01)
Keyword双目视觉 闭环检测 同时定位与地图构建 拓扑图优化 无人驾驶车
Other AbstractSimultaneous localization and mapping (SLAM) problem for unmanned ground vehicles (UGVs) in campus environments was investigated. A stereo image matching algorithm was deployed to perform consistent pose estimation so that an initial pose-graph model was constructed. A loop closure detection algorithm based on oriented FAST and Rotated BRIEF (ORB) feature matching and bag-of-words (BOW) model was utilized in our work, which can provide the constraints of temporal consistency and of geometrical consistency to improve the accuracy of loop closure. The back-end implementation for graph-based SLAM was used the Gaussian-Newton optimization method and the sparse characteristics of the system information matrix was fully utilized in the iterative procedure. The experiments were conducted on our self-developed UGV in DUT campus, and the results show the validity and robust performance of the proposed approach
Document Type期刊论文
Recommended Citation
GB/T 7714
段华旭,闫飞,庄严,等. 无人车基于双目视觉的同时定位与地图构建[J]. 华中科技大学学报(自然科学版),2015,43(S1):319-323.
APA 段华旭,闫飞,庄严,&卜春光.(2015).无人车基于双目视觉的同时定位与地图构建.华中科技大学学报(自然科学版),43(S1),319-323.
MLA 段华旭,et al."无人车基于双目视觉的同时定位与地图构建".华中科技大学学报(自然科学版) 43.S1(2015):319-323.
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