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基于VI-SLAM的四旋翼自主飞行与三维稠密重构

Quadrotor Autonomous Flight and Three-Dimensional Dense Reconstruction Based on VI-SLAM

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摘要

提出全自主的微型飞行器,使用板载传感器实现三维的同时定位与稠密重构。在ORB-SLAM系统的基础上,基于扩展卡尔曼滤波器实现了视觉-惯导的传感器融合,提高了系统的稳健性和精度以满足微型飞行器自主飞行的要求。由于ORB-SLAM系统创建的稀疏的特征地图不能用于微型飞行器的避障和导航,使用双目摄像机提出了改进的构建地图的方法,由稀疏特征点地图扩展为稠密的八叉树地图。通过EuRoC数据集进行评估,可以验证本文算法较基于关键帧的视觉-惯导算法平均精度提升了1倍。将本文算法应用于所搭建的四旋翼自主飞行平台,仅依靠板载传感器和处理器,实现了全自主飞行与稠密地图构建,验证了本文算法的有效性和稳健性。

Abstract

We propose a fully autonomous micro aerial vehicle with onboard sensors to achieve simultaneous three-dimensional localization and dense reconstruction. Based on the ORB-SLAM system, a visual-inertial simultaneous localization and mapping system is proposed based on the extended Kalman filter, which improves the robustness and accuracy of the system to meet the requirements of micro aerial vehicle autonomous flight. Since sparse feature point maps created by the ORB-SLAM system can′t be used for micro aerial vehicle obstacle avoidance and navigation, a stereo camera is used to propose an improved method of building maps from sparse maps to dense octree maps. The experiment evaluation with EuRoC dataset shows that the proposed algorithm improves the precision of open keyframe-based visual-inertial algorithm by one time. The proposed algorithm is applied to the quadrotor autonomous flight platform, and the fully autonomous flight and dense map construction is achieved by relying on on-board sensors and processors. The effectiveness and robustness of the proposed algorithm are verified.

Newport宣传-MKS新实验室计划
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中图分类号:TP242.6

DOI:10.3788/aos201838.0715004

所属栏目:机器视觉

基金项目:国家自然科学基金(61663014)

收稿日期:2018-01-15

修改稿日期:2018-02-12

网络出版日期:--

作者单位    点击查看

林辉灿:陆军装甲兵学院兵器与控制系, 北京 100072
吕强:陆军装甲兵学院兵器与控制系, 北京 100072
卫恒:陆军装甲兵学院兵器与控制系, 北京 100072
王阳:294891部队, 北京 100076
梁冰:江西理工大学信息工程学院, 江西 赣州 341000

联系人作者:林辉灿(huicanlin@gmail.com)

备注:林辉灿(1989-),男,博士研究生,主要从事视觉SLAM方面的研究。E-mail: huicanlin@gmail.com

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引用该论文

Lin Huican,Lü Qiang,Wei Heng,Wang Yang,Liang Bing. Quadrotor Autonomous Flight and Three-Dimensional Dense Reconstruction Based on VI-SLAM[J]. Acta Optica Sinica, 2018, 38(7): 0715004

林辉灿,吕强,卫恒,王阳,梁冰. 基于VI-SLAM的四旋翼自主飞行与三维稠密重构[J]. 光学学报, 2018, 38(7): 0715004

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