ArUco-SLAM: 基于ArUco二维码阵列的单目实时建图定位系统

Bo Yang Xing, Feng Pan, Xiao Xue Feng*

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

2 引用 (Scopus)

摘要

Accurate mapping algorithm is the core of ArUco landmark array localization. Most of the existing mapping algorithms based on offline processing or manual calibration behave inefficiently and time-consuming. In addition, the existing online mapping algorithms can though guarantee real-time performance, but show low accuracy, large cumulative error and sensitive to false detection. In order to overcome those shortcomings, a monocular ArUco-SLAM algorithm was proposed based on parallel mapping and synchronization optimization in this paper. Firstly, the closure principle of coordinate transformation was used to build and correct the global map online. And then, a linearity optimization algorithm was used to minimize the projection error in the corners and to achieve global optimization for key frame of the map. A synchronization optimization algorithm was used to match the online map and optimized map, and to reduce the cumulative error of the global map. Finally, several contrast experiments with other mapping systems were carried out. The experimental results show that the proposed system can not only establish high-precision map, but also realize online mapping and real-time camera localization.

投稿的翻译标题ArUco-SLAM:a Monocular SLAM System Based on ArUco Landmark Array
源语言繁体中文
页(从-至)427-433
页数7
期刊Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
40
4
DOI
出版状态已出版 - 1 4月 2020

关键词

  • ArUco landmark array
  • SLAM algorithm
  • Synchronization optimization

指纹

探究 'ArUco-SLAM: 基于ArUco二维码阵列的单目实时建图定位系统' 的科研主题。它们共同构成独一无二的指纹。

引用此

Xing, B. Y., Pan, F., & Feng, X. X. (2020). ArUco-SLAM: 基于ArUco二维码阵列的单目实时建图定位系统. Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology, 40(4), 427-433. https://doi.org/10.15918/j.tbit1001-0645.2019.026