Line-Based Stereo SLAM by Junction Matching and Vanishing Point Alignment
文献类型：期刊论文
| 作者 | Ma, Jiayi1,4; Wang, Xinya4; He, Yijia2 ; Mei, Xiaoguang4; Zhao, Ji3
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| 刊名 | IEEE ACCESS
 |
| 出版日期 | 2019 |
| 卷号 | 7页码:181800-181811 |
| 关键词 | Simultaneous localization and mapping (SLAM) line detection vanishing point visual odometry loop closure |
| ISSN号 | 2169-3536 |
| DOI | 10.1109/ACCESS.2019.2960282 |
| 通讯作者 | Zhao, Ji(zhaoji84@gmail.com) |
| 英文摘要 | In this paper, we propose a stereo simultaneous localization and mapping (SLAM) method based on line segments. For the front-end module of SLAM, we designed a novel method based on the coplanar junction detection, description, and matching. Then the junctions along with their multi-scale rotated BRIEF descriptors are used in other SLAM modules, including line tracking, mapping, and loop closure. The line extraction and matching thread runs at 20 similar to 40Hz for stereo image sequences on a laptop, making it a practical front-end for line-based SLAM system. For the back-end module, a cost function is designed to minimize both of the reprojection error of line segments and alignment error of the vanishing points. The experimental results demonstrate that the proposed method exhibits more accurate localization and reconstruction than state-of-the-art line-based SLAM systems in line-rich environments. |
| WOS关键词 | SEGMENT DETECTOR ; LANDMARKS |
| 资助项目 | National Natural Science Foundation of China[61773295] ; National Natural Science Foundation of China[61903279] ; 111 Project[B17040] |
| WOS研究方向 | Computer Science ; Engineering ; Telecommunications |
| 语种 | 英语 |
| WOS记录号 | WOS:000509486900030 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; 111 Project |
| 源URL | [http://ir.ia.ac.cn/handle/173211/29489]  |
| 专题 | 自动化研究所_智能制造技术与系统研究中心_智能机器人团队 |
| 通讯作者 | Zhao, Ji |
| 作者单位 | 1.Hubei Key Lab Adv Control & Intelligent Automat C, Wuhan 430074, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 3.ReadSense Ltd, Shanghai 200000, Peoples R China 4.Wuhan Univ, Elect Informat Sch, Wuhan 430072, Peoples R China |
| 推荐引用方式 GB/T 7714 | Ma, Jiayi,Wang, Xinya,He, Yijia,et al. Line-Based Stereo SLAM by Junction Matching and Vanishing Point Alignment[J]. IEEE ACCESS,2019,7:181800-181811. |
| APA | Ma, Jiayi,Wang, Xinya,He, Yijia,Mei, Xiaoguang,&Zhao, Ji.(2019).Line-Based Stereo SLAM by Junction Matching and Vanishing Point Alignment.IEEE ACCESS,7,181800-181811. |
| MLA | Ma, Jiayi,et al."Line-Based Stereo SLAM by Junction Matching and Vanishing Point Alignment".IEEE ACCESS 7(2019):181800-181811. |
入库方式： OAI收割
来源：自动化研究所
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