东南大学学报（自然科学版）2017，Vol.47Issue(6)：1094-1100,7.DOI:10.3969/j.issn.1001-0505.2017.06.003
基于图优化的单目线特征SLAM算法
Line-based monocular graph SLAM algorithm
摘要
Abstract
A new line based 6-DOF monocular algorithm for using graph simultaneous localization and mapping(SLAM) algoritm was proposed.First,the straight line were applied as a feature instead of points,due to a map consisting of a sparse set of 3D points is unable to describe the structure of the surrounding world.Secondly,most of previous line-based SLAM algorithms were focused on filtering-based solutions suffering from the inconsistent when applied to the inherently non-linear SLAM problem,in contrast,the graph-based solution was used to improve the accuracy of the localization and the consistency of mapping.Thirdly,a special line representation was exploited for combining the Plücker coordinates with the Cayley representation.The Plücker coordinates were used for the 3D line projection function,and the Cayley representation helps to update the line parameters during the non-linear optimization process.Finally,the simulation experiment shows that the proposed algorithm outperforms odometry and EKF-based SLAM in terms of the pose estimation,while the sum of the squared errors (SSE) and root-mean-square error (RMSE) of proposed method are 2.5％ and 10.5％ of odometry,and 22.4％ and 33％ of EKF-based SLAM.The reprojection error is only 45.5 pixels.The real image experiment shows that the proposed algorithm obtains only 958 cm2 and 3.941 3 cm the SSE and RMSE of pose estimation.Therefore,it can be concluded that the proposed algorithm is effective and accuracy.关键词
单目SLAM/线特征/图优化/Plücker坐标/Cayley直线Key words
monocular slam/line feature/graph optimization/Plücker coordinates/Cayley representation分类
信息技术与安全科学引用本文复制引用
董蕊芳,柳长安,杨国田,程瑞营..基于图优化的单目线特征SLAM算法[J].东南大学学报（自然科学版）,2017,47(6):1094-1100,7.基金项目
国家自然科学基金资助项目(61105083)、中央高校基本科研业务费专项资金资助项目(2015XS63). （61105083）
