A visual simultaneous localization and mapping approach based on scene segmentation and incremental optimization

International Journal of Advanced Robotic Systems

article

Xiaoguo Zhang¹  Qihan Liu¹  Bingqing Zheng¹  Huiqing Wang¹  Qing Wang¹ 

[1] School of Instrument Science and Engineering, Southeast University

关键词: Visual SLAM;    large view transformation;    scene segmentation;    incremental optimization;    bundle adjustment;   

DOI  :  10.1177/1729881420977669

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

Existing visual simultaneous localization and mapping (V-SLAM) algorithms are usually sensitive to the situation with sparse landmarks in the environment and large view transformation of camera motion, and they are liable to generate large pose errors that lead to track failures due to the decrease of the matching rate of feature points. Aiming at the above problems, this article proposes an improved V-SLAM method based on scene segmentation and incremental optimization strategy. In the front end, this article proposes a scene segmentation algorithm considering camera motion direction and angle. By segmenting the trajectory and adding camera motion direction to the tracking thread, an effective prediction model of camera motion in the scene with sparse landmarks and large view transformation is realized. In the back end, this article proposes an incremental optimization method combining segmentation information and an optimization method for tracking prediction model. By incrementally adding the state parameters and reusing the computed results, high-precision results of the camera trajectory and feature points are obtained with satisfactory computing speed. The performance of our algorithm is evaluated by two well-known datasets: TUM RGB-D and NYUDv2 RGB-D. The experimental results demonstrate that our method improves the computational efficiency by 10.2% compared with state-of-the-art V-SLAMs on the desktop platform and by 22.4% on the embedded platform, respectively. Meanwhile, the robustness of our method is better than that of ORB-SLAM2 on the TUM RGB-D dataset.

【 授权许可】

CC BY