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单目视觉SLAM仿真系统的设计与实现 被引量：1

Design and Implementation of Simulation System for Single Camera SLAM
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摘要 实现单目视觉同时定位与建图(SLAM)仿真系统,描述其设计过程。该系统工作性能良好,其SLAM算法可扩展性强,可以精确逼近真实单目视觉SLAM过程。以方便SLAM算法的研究为目标,提供了大量辅助记录、观察和分析实验结果的功能,有助于实验的复现和不同算法效果的对比研究。 This paper implements a simulation system for single camera Simultaneous Localization And Mapping（SLAM）, and presents the design process. This system has good work performance, and its SLAM algorithms has high expansibility, which can approach the real single camera SLAM process. It aids to convenience the research of SLAM algorithm, provides a lot of useful functions to record, observe and analyze simulation results, which makes repeating experiments and comparing algorithm effect more easily.
作者 张展宇 黄亚楼 李超 康叶伟 孙凤池
机构地区 南开大学软件学院 南开大学信息技术科学学院
出处 《计算机工程》 CAS CSCD 北大核心 2008年第19期197-199,共3页 Computer Engineering
基金 国家"863"计划基金资助项目"未知环境下移动机器人主动探索与建图"(2006AA04Z223) 国家自然科学基金资助项目"未知环境下基于陆标动态配置的移动机器人主动同时定位与地图创建"(60605021)
关键词 单目视觉传感器 扩展卡尔曼滤波 同时定位与建图 移动机器人 single camera sensor extended Kalman filter simultaneous localization and mapping mobile robot
分类号 TN911.73 [电子电信—通信与信息系统]
  • 相关文献

参考文献6

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二级参考文献19

  • 1Willdor R, Wenzel L. Giving a Compass to a Robot - Probabilistic Techniques for Simultaneous Localization and Map Building (SLAM)in Mobile Robotics[ R]. Berkeley: University of California, 2002.
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共引文献44

同被引文献10

  • 1Davison A J.Real-Time Simultaneous Localization and Mapping with a Single Camera// Proc of the International Conference on Computer Vision.Nice,France,2003:1403-1410.
  • 2Kalman R E.A New Approach to Linear Filtering and Prediction Problems.Trans of the ASME:Journal of Basic Engineering,1960,82:35 -45.
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  • 5Zhang Zhanyu,Huang Yalou,Li Chao,et al.Monocular Vision Simultaneous Localization and Mapping Using SURF//Proc of the 7th World Congress on Intelligent Control and Automation.Chongqing,China,2008:1651-1656.
  • 6Davison A J,Murray D W.Simultaneous Localization and MapBuilding Using Active Vision.IEEE Trans on Pattern Analysis and Machine Intelligence,2002,24 (7):865-880.
  • 7Sim R.Stable Exploration for Bearings-Only SLAM// Proc of the IEEE International Conference on Robotics and Automation.Barcelona,Spain,2005:2422-2427.
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  • 9Vidal-Calleja T,Davison A,Andrade-Cetto J,et al.Active Control for Single Camera SLAM//Proc of the IEEE International Conference on Robotics and Automation.Orlando,USA,2006:1930 -1936.
  • 10许俊勇,王景川,陈卫东.基于全景视觉的移动机器人同步定位与地图创建研究[J].机器人,2008,30(4):289-297. 被引量：25

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计算机工程
2008年 第19期

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