基于地面匹配的单目SLAM局部尺度恢复

Monocular SLAM Local Scale Recovery by Ground Detect

针对单目SLAM具有尺度不确定性、难以应用在移动机器人上应用的问题,提出基于地面匹配的局部尺度恢复方法,该方法先通过相机安装高度和地面方程来计算相机运动,然后根据相机的运动计算单目SLAM的初始化点周围的局部尺度,恢复这一范围内的SLAM结果到实际度量。基于ORB-SLAM框架和KITTI数据进行实验,结果表明该算法能恢复局部的SLAM定位结果,证明了该方法的有效性。

A method of recover the local scale based on ground match is proposed in this paper.Firstly,estimate camera' s ego-motion by the distance between camera and the flat ground.Then calculate Monocular SLAM's local scale to recover the location of SLAM up to real measure according to the camera ego-motion.Finally,Experimental based on ORB-SLAM are implementation with KITTI data.