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Alternative TitleCFD-SLAM: a fast and robust SLAM system combining feature-based method and direct method
王化友1,2,3; 代波1,2,3; 何玉庆2,3,4
Source Publication高技术通讯
Contribution Rank1
Funding Organization国家自然科学基金(61433016,61503369) ; 广东省科技计划(2017B010116002)
Keyword同时定位与地图构建(SLAM) 特征法 直接法 光束平差法(BA) 闭环检测 重定位 逆深度误差


Other Abstract

This work proposes a fast and robust simultaneous localization and mapping ( SLAM) system combining feature- based method and direct method (CFD-SLAM),which can be used for monocular,stereo and RGB-D cameras. The SLAM system consists of 3 parts: tracking,local mapping and loop closure. The tracking part combines feature-based method and direct method,feature-based method and direct method are utilized for keyframes and non-keyframes tracking respectively to improve real-time performance and robustness in low-texture environments. Feature-based method extracts ORB (oriented FAST and rotated BRIEF) features and computes BRIEF (binary robust independent elementary features) descriptors,and obtains the pose estimation of keyframes by minimizing reprojection error of feature points. Direct method obtains the pose estimation of non-keyframes by minimizing photometric error. For RGB-D cameras,inverse depth error is added into optimization cost function of both feature-based method and direct method. The local mapping part is in charge of managing local keyframes and map points,and optimizing both poses of local keyframes and position of local map points by using bundle adjustment (BA). To perform high level tasks such as navigation,the Octomap of the environment can be constructed for RGB-D cameras. The loop closure part improves the global consistency of the SLAM system by detecting loop keyframes and executing pose graph optimization. Finally,experiments on public datasets against other state-of-the-art SLAM systems demonstrate that the system is faster and more robust than the state-of-the-art SLAM system without precision reduction.

Document Type期刊论文
Corresponding Author王化友
Recommended Citation
GB/T 7714
王化友,代波,何玉庆. CFD-SLAM:融合特征法与直接法的快速鲁棒SLAM系统[J]. 高技术通讯,2019,29(12):1224-1238.
APA 王化友,代波,&何玉庆.(2019).CFD-SLAM:融合特征法与直接法的快速鲁棒SLAM系统.高技术通讯,29(12),1224-1238.
MLA 王化友,et al."CFD-SLAM:融合特征法与直接法的快速鲁棒SLAM系统".高技术通讯 29.12(2019):1224-1238.
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