A Hybrid Visual-Based SLAM Architecture: Local Filter-Based SLAM with KeyFrame-Based Global Mapping

Sensors

Antoni Grau¹  Edmundo Guerra¹  Rodrigo Munguia²  Juan-Carlos Trujillo² 

[1] Department of Automatic Control, Technical University of Catalonia UPC, 08034 Barcelona, Spain;Department of Computer Science (CUCEI), University of Guadalajara, Guadalajara 44430, Mexico;

关键词: visual SLAM;    filter;    optimization;    key-frame;    hybrid;    local mapping;   

DOI  :  10.3390/s22010210

来源: DOAJ

【 摘 要 】

This work presents a hybrid visual-based SLAM architecture that aims to take advantage of the strengths of each of the two main methodologies currently available for implementing visual-based SLAM systems, while at the same time minimizing some of their drawbacks. The main idea is to implement a local SLAM process using a filter-based technique, and enable the tasks of building and maintaining a consistent global map of the environment, including the loop closure problem, to use the processes implemented using optimization-based techniques. Different variants of visual-based SLAM systems can be implemented using the proposed architecture. This work also presents the implementation case of a full monocular-based SLAM system for unmanned aerial vehicles that integrates additional sensory inputs. Experiments using real data obtained from the sensors of a quadrotor are presented to validate the feasibility of the proposed approach.

【 授权许可】

Unknown