RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information

Sensors

Wenhui Wan¹  Yexin Wang¹  Kaichang Di¹  Qiang Zhao¹  Yunjun Gao¹ 

[1] State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, No. 20A, Datun Road, Chaoyang District, Beijing 100101, China;

关键词: RGB-D camera;    SLAM;    projection model;    bundle adjustment;    Kinect;   

DOI  :  10.3390/s16081285

来源: DOAJ

【 摘 要 】

In the study of SLAM problem using an RGB-D camera, depth information and visual information as two types of primary measurement data are rarely tightly coupled during refinement of camera pose estimation. In this paper, a new method of RGB-D camera SLAM is proposed based on extended bundle adjustment with integrated 2D and 3D information on the basis of a new projection model. First, the geometric relationship between the image plane coordinates and the depth values is constructed through RGB-D camera calibration. Then, 2D and 3D feature points are automatically extracted and matched between consecutive frames to build a continuous image network. Finally, extended bundle adjustment based on the new projection model, which takes both image and depth measurements into consideration, is applied to the image network for high-precision pose estimation. Field experiments show that the proposed method has a notably better performance than the traditional method, and the experimental results demonstrate the effectiveness of the proposed method in improving localization accuracy.

【 授权许可】

Unknown