360°地图建立和实时同时定位和绘制基于自动驾驶汽车的等直角投影的地图.
Bo-Hong Lin1, Vinay M Shivanna1, Jiun-Shiung Chen2
1Institute of Electronics, National Yang Ming Chiao Tung University, Hsinchu 30010, Taiwan.
Sensors (Basel, Switzerland)
|July 8, 2023
概括
本研究介绍了一种360度映射和同时定位和映射 (SLAM) 算法,使用的是等直角投影. 该系统高效地处理鱼眼相机图像,用于实时定位和绘图应用.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 计算机视觉 计算机视觉
- 地理信息系统 (GIS) 是一个地理信息系统.
背景情况:
- 同时定位和映射 (SLAM) 对自主系统至关重要.
- 现有的SLAM方法经常在360度图像和实时性能方面扎.
- 高效地图表示和特征提取是360°SLAM的关键挑战.
研究的目的:
- 设计一个新的360度地图建立和实时SLAM算法.
- 为了使用等直角投影图像实现强大的本地化和映射.
- 为实时360°SLAM优化计算效率.
主要方法:
- 使用双背对背的鱼眼摄像头进行360度的图像捕捉.
- 采用视角转换来减少特征提取面积和计算负载.
- 杆定向快速和旋转简报 (ORB) 功能点与GPU加速用于跟踪和姿势估计.
- 实现灵活的360°二进制地图,具有保存,加载和在线更新功能.
主要成果:
- 在nVidia Jetson TX2.2上实现实时性能,平均每秒20 (FPS).
- 在250米的距离上显示了1%的低累积的根平均平方 (RMS) 误差.
- 成功地执行全景拼接和混合双鱼眼摄像头输入.
结论:
- 拟议的算法为360°SLAM提供了一个高效和稳定的解决方案.
- 该系统支持灵活的摄像头配置和嵌入式平台上的实时处理.
- 这项工作提升了360度环境中自主导航和绘制地图的能力.
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