摘要
基于单目视觉与惯性测量单元(IMU)融合的SLAM(simultaneous localization and mapping)技术,具有硬件成本低、体积小和消耗计算资源少等优点,在移动机器人导航系统中得到了广泛的应用。单目视觉SLAM系统主要通过求解对极几何来解算位姿,但当平移为零时(仅存在姿态旋转运动),存在解算漂移的问题。通过将磁力计的数据融合到单目视觉SLAM算法中,不但可以解决纯旋转情况下姿态解算漂移问题,还可以提高解算精度。物理仿真实验的结果表明,与传统的SLAM算法相比,本文提出的基于磁力计、IMU和单目视觉融合的算法具有精度高、鲁棒性好的优点。
SLAM(simultaneous localization and mapping)algorithm based on monocular vision and IMU has been widely used in mobile robot navigation systems,due to low hardware cost,small size,and low computational resource consumption.The Mono SLAM system can calculate the robot pose information by solving the Epipolar geometry.However,when the translation of the robot is zero(pure rotation),the solution will drift.In this paper,we propose a new method that integrates the data of the magnetometer into the monocular vision SLAM algorithm,which can not only solve the problem of the attitude solution drift under pure rotation but also improve the solution accuracy.Both simulation and real experiment results show that,compared with the traditional SLAM algorithm,the proposed algorithm has the advantages of high precision and good robustness.
作者
樊建彪
孙剑
樊欢欢
陈伟
FAN Jianbiao;SUN Jian;FAN Huanhuan;CHEN Wei(School of Aerospace,Xi\an Jiaotong University,Xi\an 710049,China;State Key Laboratory for Strength and Vibration of Mechanical Structures,Xi\an Jiaotong University,Xi\an 710049,China)
出处
《宇航总体技术》
2019年第6期39-45,共7页
Astronautical Systems Engineering Technology
基金
装发领域基金(61404150303).
