华中科技大学学报（自然科学版）Issue(z1)：319-323,5.DOI:10.13245/j.hust.15S1076
无人车基于双目视觉的同时定位与地图构建
Simultaneous localization and mapping for UGVs with binocular camera
摘要
Abstract
Simultaneous localization and mapping (SLAM)problem for unmanned ground vehicles (UGVs)in campus environments was investigated.A stereo image matching algorithm was deployed to perform consistent pose estimation so that an initial pose-graph model was constructed.A loop clo-sure detection algorithm based on oriented FAST and Rotated BRIEF (ORB)feature matching and bag-of-words (BOW)model was utilized in our work,which can provide the constraints of temporal consistency and of geometrical consistency to improve the accuracy of loop closure.The back-end im-plementation for graph-based SLAM was used the Gaussian-Newton optimization method and the sparse characteristics of the system information matrix was fully utilized in the iterative procedure. The experiments were conducted on our self-developed UGV in DUT campus,and the results show the validity and robust performance of the proposed approach.关键词
双目视觉/闭环检测/同时定位与地图构建/拓扑图优化/无人驾驶车Key words
binocular camera/loop closure detection/simultaneous localization and mapping (SLAM)/optimization of topological graph/unmanned ground vehicle (UGV)分类
信息技术与安全科学引用本文复制引用
段华旭,闫飞,庄严,卜春光..无人车基于双目视觉的同时定位与地图构建[J].华中科技大学学报（自然科学版）,2015,(z1):319-323,5.基金项目
“十二五”国家科技支撑计划重点资助项目（2013BAK03B01）． （）
