A robust and accurate simultaneous localization and mapping system for RGB-D cameras
文献类型：会议论文
| 作者 | Wang HY(王化友)1,2; Hu YM(胡艳明)1,2 ; Yang LY(杨丽英)2; He YQ(何玉庆)2
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| 出版日期 | 2018 |
| 会议日期 | June 30 - July 6, 2018 |
| 会议地点 | Cordoba, Granada, And Seville, Spain |
| 关键词 | SLAM localization mapping RGB-D bundle adjustment |
| 页码 | 458-465 |
| 英文摘要 | This paper presents a feature-based simultaneous localization and mapping (SLAM) system for RGB-D cameras that operates in real time, in indoor environments. The system is composed of three central components: Tracking, mapping and loop closing which are based on ORB-SLAM2 [1]. The tracking part estimates the pose of a frame via optimizing both the reprojection error and inverse depth error of matching feature points, rather than just optimizing the reprojection error like ORB-SLAM2 [1]. The mapping part optimizes the pose of all keyframes and the position of all map points by using bundle adjustment, and an occupancy grid map of the surrounding environment is constructed based on the octree-based mapping framework OctoMap [2] for high-level tasks, and the map is more useful then the sparse points representation in ORB-SLAM2 [1]. The loop closing of ORB-SLAM2 [1] just uses color appearance information, but our system uses both the color appearance information and depth consistency to deal with inaccurate data association. The experiment results in the TUM RGB-D dataset [3] shows that our system achieves better localization accuracy and robustness than ORB-SLAM2 [1]. |
| 源文献作者 | City University of Hongkong ; University of Cordoba ; University of Granada ; University of Seville |
| 产权排序 | 1 |
| 会议录 | 8th International Conference on Information Science and Technology, ICIST 2018
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-3781-4 |
| WOS记录号 | WOS:000502264900072 |
| 源URL | [http://ir.sia.cn/handle/173321/22727]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Wang HY(王化友) |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing 100049, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Wang HY,Hu YM,Yang LY,et al. A robust and accurate simultaneous localization and mapping system for RGB-D cameras[C]. 见:. Cordoba, Granada, And Seville, Spain. June 30 - July 6, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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