随着机器视觉的高速发展,视觉同步定位与地图构建(visual simultaneous localization and mapping,V-SLAM)成为室内定位、导航应用的研究热点。针对传统ORB算法提取特征点分布不均匀的问题,在前端采用四叉树算法管理特征点,实现特征点...随着机器视觉的高速发展,视觉同步定位与地图构建(visual simultaneous localization and mapping,V-SLAM)成为室内定位、导航应用的研究热点。针对传统ORB算法提取特征点分布不均匀的问题,在前端采用四叉树算法管理特征点,实现特征点均匀化分布,并结合渐进抽样一致性(progressive sample consensus,PROSAC)算法剔除误匹配特征点;在后端,采用构建词袋(bag of words,BoW)法对关键帧进行回环检测,判断帧与帧之间是否存在回环,并采用光束平差(bundle adjustment,BA)法进行相机位姿优化,修正相机位姿。在图像特征点提取和匹配实验中,通过与传统ORB算法及其他方法对比,证明本文算法具有较好的运算效率。与ORB_SLAM-modified算法进行轨迹对比实验,分析生成的点云图,结果表明,本文算法具有较高的可靠性和精确度。展开更多
The purpose of this paper is to define the concept of mixed saddle point for a vector-valued Lagrangian of the non-smooth multiobjective vector-valued constrained optimization problem and establish the equivalence of ...The purpose of this paper is to define the concept of mixed saddle point for a vector-valued Lagrangian of the non-smooth multiobjective vector-valued constrained optimization problem and establish the equivalence of the mixed saddle point and an efficient solution under generalized (V, p)-invexity assumptions.展开更多
文摘随着机器视觉的高速发展,视觉同步定位与地图构建(visual simultaneous localization and mapping,V-SLAM)成为室内定位、导航应用的研究热点。针对传统ORB算法提取特征点分布不均匀的问题,在前端采用四叉树算法管理特征点,实现特征点均匀化分布,并结合渐进抽样一致性(progressive sample consensus,PROSAC)算法剔除误匹配特征点;在后端,采用构建词袋(bag of words,BoW)法对关键帧进行回环检测,判断帧与帧之间是否存在回环,并采用光束平差(bundle adjustment,BA)法进行相机位姿优化,修正相机位姿。在图像特征点提取和匹配实验中,通过与传统ORB算法及其他方法对比,证明本文算法具有较好的运算效率。与ORB_SLAM-modified算法进行轨迹对比实验,分析生成的点云图,结果表明,本文算法具有较高的可靠性和精确度。
文摘The purpose of this paper is to define the concept of mixed saddle point for a vector-valued Lagrangian of the non-smooth multiobjective vector-valued constrained optimization problem and establish the equivalence of the mixed saddle point and an efficient solution under generalized (V, p)-invexity assumptions.