基于综合互信息的视觉SLAM主动探索

Active Exploration of Visual SLAM Based on Comprehensive Mutual Information

针对当前单目视觉同时定位与建图(SLAM)研究中基于互信息的主动探索方式存在忽略不同运动行为代价的缺陷,提出考虑运动代价的基于综合互信息的探索策略.运动行为的选择考虑摄像机平移一定距离、旋转一定角度所付出的代价,并根据不同类型的运动行为对路标匹配可靠性影响的大小为其设置相应的权重,然后选择单位代价下能够获得最大信息增益的行为.实验结果表明,基于这种探索策略的单目视觉SLAM可在不影响定位精度和实时性的情况下,科学地选择可行的运动行为,避免单纯追求信息收益的探索方式的不合理性.

The active Simuhaneous Localization and Mapping （SLAM） problem based on a single camera is discussed in this paper. Regarding the defect of available research results based on mutual information that neglect costs by different motion activities, the exploration strategy based on comprehensive mutual information that consider motion costs is proposed. The costs of movements including displacement distance and rotation degree of the camera are taken into account to choose movement activities. Each activity is assigned to a certain weight according to the extent that it affects the reliability of landmark matching. Then the activity obtaining largest information gain under unit cost is selected. The experimental result shows that without affecting location precision and real time property, the SLAM of single camera based on the proposed exploration strategy can choose feasible motion activity scientifically and avoid the shortage of the exploration mode pursuing information benefits only.