基于鱼眼相机和RGBD相机的异构协同SLAM

doi:10.7527/S1000-6893.2022.27621

Abstract

Abstract:

SLAM technology has a the potential of wide applications in autonomous navigation in satellite navigation denied environments. To combine the advantages of monocular fisheye SLAM to obtain more texture information and RGBD-SLAM to directly obtain scale information， a heterogeneous collaborative SLAM system is designed based on a monocular fisheye camera and a RGBD camera. Firstly， a method for checking the 3D gray centroid direction consistency between feature points is designed to screen the candidate matching points between heterogeneous images. Then， a step-by-step optical flow and projection matching method between heterogeneous images is designed to achieve high-performance feature point matching and relative pose estimation between fisheye and RGBD camera. Finally， based on the ORB-SLAM2 framework， a heterogeneous collaborative SLAM system is proposed based on fisheye and RGBD camera. The experimental results show that compared with traditional feature point matching methods， the proposed feature point matching method shows higher performance in the task of image feature matching with heterogeneous cameras. Compared with the monocular fisheye SLAM and RGBD-SLAM system， the proposed heterogeneous collaborative SLAM system has better performance under the conditions of rapid camera movement， camera close to the scene， low frame rate， texture loss， pure rotation of the camera， outdoor large scenes， etc.， and demonstrates improved robustness， anti-drift ability and trajectory accuracy.

Key words: heterogeneous collaborative SLAM, heterogeneous image feature matching, fisheye camera, RGBD camera, candidate matching points filtering

CLC Number:

V249.3

Yutong ZHANG, Jianmei SONG, Yan DING, Jinpeng LIU. Heterogeneous collaborative SLAM based on fisheye and RGBD cameras[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(10): 327621.

Figures/Tables 29

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数据集	匹配次数	本文算法		暴力匹配		BoW		FLANN
数据集	匹配次数	匹配成功次数	匹配成功率/%	匹配成功次数	匹配成功率/%	匹配成功次数	匹配成功率/%	匹配成功次数	匹配成功率/%
1-花园	1 309	1 252	95.6	590	45.1	0	0	147	11.2
2-走廊	1 535	1 529	99.6	1 122	73.1	574	37.4	401	26.1
3-实验室1	1 815	1 767	97.4	1 219	67.2	75	4.1	420	23.1
4-办公室1	1 609	1 483	92.2	753	46.8	58	3.6	352	21.9
5-实验室2	6 435	6 211	96.5	3 813	59.3	146	2.3	1 200	18.6
6-办公室2	1 831	1 771	96.7	1 010	55.2	184	10.0	559	30.5

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Heterogeneous collaborative SLAM based on fisheye and RGBD cameras

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