ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2023, Vol. 44 ›› Issue (10): 327621-327621.doi: 10.7527/S1000-6893.2022.27621
• Electronics and Electrical Engineering and Control • Previous Articles
Yutong ZHANG, Jianmei SONG, Yan DING(), Jinpeng LIU
Received:
2022-06-14
Revised:
2022-08-04
Accepted:
2022-09-15
Online:
2022-10-09
Published:
2022-09-30
Contact:
Yan DING
E-mail:dingyan@bit.edu.cn
Supported by:
CLC Number:
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): 327621-327621.
Table 1
Matching success times and success rate in different data sets
数据集 | 匹配 次数 | 本文算法 | 暴力匹配 | BoW | FLANN | ||||
---|---|---|---|---|---|---|---|---|---|
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 |
1 | 赵良玉, 金瑞, 朱叶青, 等. 基于点线特征融合的双目惯性SLAM算法[J]. 航空学报, 2022, 43(3): 325117. |
ZHAO L Y, JIN R, ZHU Y Q, et al. Stereo visual-inertial slam with point and line features[J]. Acta Aeronautica et Astronautica Sinica, 2022, 43(3): 325117 (in Chinese). | |
2 | 谢洪乐, 陈卫东, 范亚娴, 等. 月面特征稀疏环境下的视觉惯性SLAM方法[J]. 航空学报, 2021, 42(1): 524169. |
XIE H L, CHEN W D, FAN Y X, et al. Visual-inertial SLAM in featureless environments on lunar surface[J]. Acta Aeronautica et Astronautica Sinica, 2021, 42(1): 524169 (in Chinese). | |
3 | 王小涛, 张家友, 王邢波, 等. 基于FastSLAM的绳系机器人同时定位与地图构建算法[J]. 航空学报, 2021, 42(1): 523893. |
WANG X T, ZHANG J Y, WANG X B, et al. Simultaneous localization and mapping algorithm based on FastSLAM framework for tethered robots[J]. Acta Aeronautica et Astronautica Sinica, 2021, 42(1): 523893 (in Chinese). | |
4 | DAVISON A J, REID I D, MOLTON N D, et al. MonoSLAM: Real-time single camera SLAM[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2007, 29(6): 1052-1067. |
5 | KLEIN G, MURRAY D. Parallel tracking and mapping for small AR workspaces[C]∥ 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality. Piscataway: IEEE Press, 2008: 225-234. |
6 | KLEIN G, MURRAY D. Improving the agility of keyframe-based SLAM[C]∥European Conference on Computer Vision. Berlin: Springer, 2008: 802-815. |
7 | MUR-ARTAL R, MONTIEL J M M, TARDÓS J D. ORB-SLAM: A versatile and accurate monocular SLAM system[J]. IEEE Transactions on Robotics, 2015, 31(5): 1147-1163. |
8 | LIN Y, GAO F, QIN T, et al. Autonomous aerial navigation using monocular visual-inertial fusion[J]. Journal of Field Robotics, 2018, 35(1): 23-51. |
9 | WANG Y H, CAI S J, LI S J, et al. CubemapSLAM: A piecewise-pinhole monocular fisheye SLAM system[C]∥Asian Conference on Computer Vision. Cham: Springer, 2019: 34-49. |
10 | CARUSO D, ENGEL J, CREMERS D. Large-scale direct SLAM for omnidirectional cameras[C]∥2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Piscataway: IEEE Press, 2015: 141-148. |
11 | ENGEL J, SCHÖPS T, CREMERS D. LSD-SLAM: Large-scale direct monocular SLAM[C]∥European Conference on Computer Vision. Cham: Springer, 2014: 834-849. |
12 | ZHANG Z C, REBECQ H, FORSTER C, et al. Benefit of large field-of-view cameras for visual odometry[C]∥ 2016 IEEE International Conference on Robotics and Automation (ICRA). Piscataway: IEEE Press, 2016: 801-808. |
13 | FORSTER C, PIZZOLI M, SCARAMUZZA D. SVO: Fast semi-direct monocular visual odometry[C]∥2014 IEEE International Conference on Robotics and Automation (ICRA). Piscataway: IEEE Press, 2014: 15-22. |
14 | MATSUKI H, VON STUMBERG L, USENKO V, et al. Omnidirectional DSO: Direct sparse odometry with fisheye cameras[J]. IEEE Robotics and Automation Letters, 2018, 3(4): 3693-3700. |
15 | ENGEL J, KOLTUN V, CREMERS D. Direct sparse odometry[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2018, 40(3): 611-625. |
16 | JO Y G, HONG S H, HWANG S S, et al. Fisheye lens camera based autonomous valet parking system[DB/OL]. arXiv preprint: 2104.13119, 2021. |
17 | LIU S Y, GUO P, FENG L H, et al. Accurate and robust monocular SLAM with omnidirectional cameras[J]. Sensors (Basel, Switzerland), 2019, 19(20): 4494. |
18 | KHOMUTENKO B, GARCIA G, MARTINET P. An enhanced unified camera model[J]. IEEE Robotics and Automation Letters, 2016, 1(1): 137-144. |
19 | CORREIA GARCIA T A, CAMPOS M B, CASTANHEIRO L F, et al. A proposal to integrate ORB-slam fisheye and convolutional neural networks for outdoor terrestrial mobile mapping[C]∥ 2021 IEEE International Geoscience and Remote Sensing Symposium IGARSS. Piscataway: IEEE Press, 2021: 578-581. |
20 | URBAN S, HINZ S. MultiCol-SLAM - A modular real-time multi-camera SLAM system[DB/OL]. arXiv preprint: 1610.07336, 2016. |
21 | JI S P, QIN Z J, SHAN J. Panoramic SLAM from a multiple fisheye camera rig[J]. ISPRS Journal of Photogrammetry and Remote Sensing, 2020, 159: 169-183. |
22 | MUR-ARTAL R, TARDÓS J D. ORB-SLAM2: An open-source SLAM system for monocular, stereo, and RGB-D cameras[J]. IEEE Transactions on Robotics, 2017, 33(5): 1255-1262. |
23 | ZHANG Y, HUANG F. Panoramic visual SLAM technology for spherical images[J]. Sensors (Basel, Switzerland), 2021, 21(3): 705. |
24 | ZHAO Q, FENG W, WAN L, et al. SPHORB: A fast and robust binary feature on the sphere[J]. International Journal of Computer Vision, 2015, 113(2): 143-159. |
25 | AUDRAS C, COMPORT A I, MEILLAND M, et al. Real-time dense appearance-based SLAM for RGB-D sensors[C]∥Proceedings of the 2011 Australasian Conference on Robotics and Automation, 2011. |
26 | NEWCOMBE R A, IZADI S, HILLIGES O, et al. KinectFusion: Real-time dense surface mapping and tracking[C]∥ 2011 10th IEEE International Symposium on Mixed and Augmented Reality. Piscataway: IEEE Press, 2012: 127-136. |
27 | WHELAN T, JOHANNSSON H, KAESS M, et al. Robust real-time visual odometry for dense RGB-D mapping[C]∥ 2013 IEEE International Conference on Robotics and Automation. Piscataway: IEEE Press, 2013: 5724-5731. |
28 | CHEN J W, BAUTEMBACH D, IZADI S. Scalable real-time volumetric surface reconstruction[J]. ACM Transactions on Graphics, 2013, 32(4): 1-16. |
29 | ENDRES F, HESS J, STURM J, et al. 3-D mapping with an RGB-D camera[J]. IEEE Transactions on Robotics, 2014, 30(1): 177-187. |
30 | HENRY P, KRAININ M, HERBST E, et al. RGB-D mapping: Using depth cameras for dense 3D modeling of indoor environments[M]∥Experimental Robotics. Berlin: Springer, 2014: 477-491. |
31 | BESL P J, MCKAY N D. Method for registration of 3-D shapes [J]. IEEE Transactions on Pattern Analysis & Machine Intelligence, 1992, 14(2):239-256. |
32 | LOWE D G. Object recognition from local scale-invariant features[C]∥Proceedings of the Seventh IEEE International Conference on Computer Vision. Piscataway: IEEE Press, 2002: 1150-1157. |
33 | SUMIKURA S, SHIBUYA M, SAKURADA K. OpenVSLAM: A versatile visual SLAM framework[C]∥Proceedings of the 27th ACM International Conference on Multimedia. New York: ACM, 2019: 2292-2295. |
34 | CAMPOS C, ELVIRA R, RODRÍGUEZ J J G, et al. ORB-SLAM3: An accurate open-source library for visual, visual⁃inertial, and multimap SLAM[J]. IEEE Transactions on Robotics, 2021, 37(6): 1874-1890. |
35 | YOUSIF K, TAGUCHI Y, RAMALINGAM S. MonoRGBD-SLAM: Simultaneous localization and mapping using both monocular and RGBD cameras[C]∥ 2017 IEEE International Conference on Robotics and Automation (ICRA). Piscataway: IEEE Press, 2017: 4495-4502. |
36 | ZHANG Y T, SONG J M, DING Y, et al. FSD-BRIEF: A distorted BRIEF descriptor for fisheye image based on spherical perspective model[J]. Sensors (Basel, Switzerland), 2021, 21(5): 1839. |
37 | ROSTEN E, DRUMMOND T. Machine learning for high-speed corner detection[M]∥Computer Vision⁃ECCV 2006. Berlin: Springer, 2006: 430-443. |
38 | MIKOLAJCZYK K, SCHMID C. A performance evaluation of local descriptors[C]∥ 2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. Proceedings. Piscataway: IEEE Press, 2003: 1-7. |
39 | URBAN S, LEITLOFF J, HINZ S. MLPnP - A real-time maximum likelihood solution to the perspective-n-point problem[DB/OL].arXiv preprint: 1607.08112, 2016. |
[1] | . Multi-UAV decentralized cooperative navigation method based on memory-fusion [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 0, (): 0-0. |
[2] | . Troposphere anomaly integrity monitoring parameters for GBAS [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 0, (): 0-0. |
[3] | Huaijie ZHANG, Jingya MA, Haoyuan LIU, Pin GUO, Huichao DENG, Kun XU, Xilun DING. Indoor positioning technology of multi⁃rotor flying robot based on visual-inertial fusion [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(5): 426964-426964. |
[4] | Jianyu SU, Haiyan FANG, Jingjing GAO, Liang ZHAO. Determination of optimal observation period for X-ray pulsar-based navigation [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(3): 526597-526597. |
[5] | . PPP integrity monitoring algorithm for mass navigation applications [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 0, (): 0-0. |
[6] | SUN Hongchi, MU Rongjun, LONG Teng, LI Shoupeng, CUI Naigang. Beidou/INS high dynamic deeply integrated navigation of near-space vehicle [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(9): 325672-325672. |
[7] | . L/C dual-band navigation signal modulation mode and performance evaluation of BeiDou system [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 0, (): 0-0. |
[8] | ZHANG Zhouyu, CAO Yunfeng, FAN Yanming. Research progress of vision based aerospace conflict sensing technologies for small unmanned aerial vehicle in low altitude [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(8): 25645-025645. |
[9] | LI Ming, HU Hui, GUO Meng, YU Fei, XIE Hongqun. Unambiguous acquisition algorithm based on cross-correlation function shift multiplication for BOC (m,n) signals [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(8): 325897-325897. |
[10] | ZHAO Liangyu, JIN Rui, ZHU Yeqing, GAO Fengjie. Stereo visual-inertial SLAM algorithm based on merge of point and line features [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(3): 325117-325117. |
[11] | LIU Shiming, LI Sihai, ZHENG Jiangtao, FU Qiangwen, TAO Yuanbo. Detection of slowly growing faults of GNSS/INS ultra-tight integration based on prefilters and two-stage AIME [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(3): 325168-325168. |
[12] | HUANG Weiquan, FANG Tao, WANG Zongyi. Improved non-damping comprehensive calibration method for grid INS [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(9): 323921-323921. |
[13] | NING Xiaolin, HUANG Yulin, CHAO Wen. Integrated navigation of solar disk velocity difference and sun direction for spacecraft [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(9): 324253-324253. |
[14] | FAN Ying, HE Xiaofeng, FAN Chen, HU Xiaoping, WU Xuesong, HAN Guoliang, LUO Kaixin. Atmospheric polarized light orientation method in cloudy weather [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(9): 324263-324263. |
[15] | NING Xiaolin, LIANG Xiaoyu, SUN Xiaohan, WANG Fan, WANG Longhua, FANG Jiancheng. Satellite stellar refraction navigation measurements and their performance: A comparison [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(8): 623536-623536. |
Viewed | ||||||
Full text |
|
|||||
Abstract |
|
|||||
Address: No.238, Baiyan Buiding, Beisihuan Zhonglu Road, Haidian District, Beijing, China
Postal code : 100083
E-mail:hkxb@buaa.edu.cn
Total visits: 6658907 Today visits: 1341All copyright © editorial office of Chinese Journal of Aeronautics
All copyright © editorial office of Chinese Journal of Aeronautics
Total visits: 6658907 Today visits: 1341