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一个对象跟踪增强的视觉SLAM系统用于动态环境.

Yimeng Chang1, Jun Hu1, Shiyou Xu1

  • 1School of Electronics and Communication Engineering, Sun Yat-sen University, Shenzhen 518107, China.

Sensors (Basel, Switzerland)
|September 28, 2023
PubMed
概括

本研究介绍了OTE-SLAM,一个对象跟踪增强的视觉同时定位和映射 (SLAM) 系统. 它通过共同优化相机和物体运动来提高相机在动态环境中的姿势准确性.

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
  • 自主系统 自主系统

背景情况:

  • 视觉同时定位和映射 (SLAM) 对自主系统至关重要.
  • 传统的SLAM系统假定场景刚性,在动态环境中失败.
  • 排除动态特征可能会导致跟踪数据不足.

研究的目的:

  • 开发一个对象跟踪增强的视觉SLAM系统 (OTE-SLAM).
  • 在动态环境中解决刚性场景假设的局限性.
  • 在具有挑战性的场景中提高相机姿势估计准确度.

主要方法:

  • 拟议的OTE-SLAM将对象跟踪与视觉SLAM集成在一起.
  • 共同优化摄像头姿势和动态对象3D位置.
  • 利用SLAM和对象跟踪之间的互惠利益.

主要成果:

  • 在动态环境中证明了SLAM系统的改进准确性.
  • 在绝对轨迹误差 (ATE) 中实现了最大22%的减少.
  • 在相对轨迹误差 (RTE) 中最大降低了33%.

结论:

关键词:
动态的环境 动态的环境对象跟踪是指对象的跟踪.视觉上的SLAM是什么意思

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  • 在视觉SLAM中,OTE-SLAM有效地处理动态对象.
  • 联合优化在具有挑战性的环境中提高了稳定性和准确性.
  • 这种方法为自主应用提供了显著的改进.