基于机器视觉的同步定位与建图系统的研究

Research on Synchronous Localization and Mapping System Based on Machine Vision

文章对机器视觉+IMU传感器的SLAM方法展开研究,分析了有关SLAM的数学模型与理论基础,介绍了双目相机模型,分析了SLAM系统的相关技术,最后搭建了一个完整的基于视觉的IMU与视觉惯导融合的SLAM方案,并通过试验验证了系统的性能。

This article conducts research on the SLAM method of machine vision+IMU sensor,analyzes the mathematical model and theoretical basis of SLAM,introduces the binocular camera model,analyzes the relevant technologies of SLAM system,and finally constructs a complete SLAM scheme based on the fusion of IMU and visual inertial navigation,and verifies the performance of the system through experiments.