Incremental Pose Map Optimization for Monocular Vision SLAM Based on Similarity Transformation

Liu, Wenlei; Wu, Sentang; Wu, Zhongbo; Wu, Xiaolong

doi:10.3390/s19224945

Cited by 6 publications

(5 citation statements)

References 37 publications

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“…where M is a 2n × 11 matrix, and it does not contain any trigonometric function nor constraint. For Equation (11), take partial derivatives of a, b, c, and d respectively, we have…”

Section: Initial Pose Estimationmentioning

confidence: 99%

“…Multiocular measurement can obtain the depth information of objects, which is often used in the 3D reconstruction. Compared with multi-ocular measurement, monocular measurement has no image matching process and only needs a single image to obtain the pose, and has higher positioning efficiency [11]. The actual disc cutter changing space is very narrow, and the vision system is installed on the end actuator of the disc cutter changing robot.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Pose Determination of the Disc Cutter Holder of Shield Machine Based on Monocular Vision

Peng

Zhu

Zhang

et al. 2022

Sensors

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The visual measurement system plays a vital role in the disc cutter changing robot of the shield machine, and its accuracy directly determines the success rate of the disc cutter grasping. However, the actual industrial environment with strong noise brings a great challenge to the pose measurement methods. The existing methods are difficult to meet the required accuracy of pose measurement based on machine vision under the disc cutter changing conditions. To solve this problem, we propose a monocular visual pose measurement method consisting of the high precision optimal solution to the PnP problem (OPnP) method and the highly robust distance matching (DM) method. First, the OPnP method is used to calculate the rough pose of the shield machine’s cutter holder, and then the DM method is used to measure its pose accurately. Simulation results show that the proposed monocular measurement method has better accuracy and robustness than the several mainstream PnP methods. The experimental results also show that the maximum error of the proposed method is 0.28° in the direction of rotation and 0.32 mm in the direction of translation, which can meet the measurement accuracy requirement of the vision system of the disc cutter changing robot in practical engineering application.

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“…where M is a 2n × 11 matrix, and it does not contain any trigonometric function nor constraint. For Equation (11), take partial derivatives of a, b, c, and d respectively, we have…”

Section: Initial Pose Estimationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Pose Determination of the Disc Cutter Holder of Shield Machine Based on Monocular Vision

Peng

Zhu

Zhang

et al. 2022

Sensors

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show abstract

“…While the airborne IMU sensor often causes bigger attitude angle accumulation error, bringing certain difficulty to the UAV attitude determination. The other airborne sensors including various cameras and lidar can be used to perceive the surrounding environment, estimate the position and the attitude of the UAV, and at the same time, carry out threedimensional environmental modeling, namely SLAM [10][11][12][13] technology. Vision sensors have the advantages of low power consumption, low cost, light weight, etc.…”

Section: Introductionmentioning

confidence: 99%

UAV hovering pose detection via binocular vision system based on improved SAC-IA+ICP point cloud registration

Zhang

et al. 2022

Preprint

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In this paper, to solve the problem of quantitative evaluation of the stability of the unmanned aerial vehicle (UAV) while hovering, a binocular vision relative pose measurement system that can be used for remote control is developed and a characteristic target adapted to the system is designed. Moreover, a feature point extraction algorithm based on known feature constraints and a fast feature point matching algorithm based on projection shape invariant constraints are proposed for fast and accurate extraction and reconstruction of feature point sets. The point cloud registration method of SAC-IA + ICP is used to solve the pose and orientation of the characteristic target. It is verified by simulation that the orientation and angle of the target have registration accuracies of 1.1078mm and 0.0463°, respectively. The binocular system is experimentally analyzed using the laser tracker and T-Mac measurement as the true value. Compared with the optical flow method, the former time is shortened by 60%, the Euclidean displacement measurement error is reduced by 83%, and the attitude angle deflection measurement error is reduced by 87%. Then, the hovering state of the UAV is measured using the binocular system; and the obtained experimental measurement results of the system are true and reliable.

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“…When the scene is changed, the map could be expended automatically, and the multi-threaded processing method can be used also effectively to improve the operation speed. In reference [9], an incremental pose optimization ORB-SLAM based on similarity transformation is proposed, to effectively solve the scale drift problem of ORB-SLAM and eliminate the accumulated error through global optimization. With the mixed inverse depth estimation method based on the probability graph, the uncertainty of depth estimation can be effectively solved and the robustness of the depth estimation can be improved.…”

Section: Introductionmentioning

confidence: 99%

Integrated Autonomous Relative Navigation Method Based on Vision and IMU Data Fusion

Liu

Wen

et al. 2020

IEEE Access

Self Cite

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An integrated autonomous relative navigation method based on vision and IMU data fusion was proposed in this paper, which can improve the position accuracy effectively and has strong adaptability to environmental changes. Firstly, IMU pre-integration formula based on Runge Kutta method was derived, which can improve the pre-integration position accuracy and reduce the accumulated error effectively. Secondly, an inverse depth estimation method based on the mixed probability model was proposed during the system initialization process, which can improve the accuracy of camera depth estimation and provide better initial conditions for back-end optimization. Thirdly, a sliding window filtering method based on the probability graph was proposed, which can avoid repeated calculations and improve the sliding window filtering efficiency. Forthly, combined with the advantages of the direct method and the feature point method, a mixed re-projection optimization method was proposed, which can expand the application scope of the method and improve the optimization accuracy effectively. Finally, in the closed-loop optimization, a closedloop optimization method based on similar transformation is proposed to eliminate the accumulated error. In order to verify the environmental adaptability of the method and the impact of closed-loop detection on the relative navigation system, indoor and outdoor experiments were carried out with a hand-held camera and an IMU. EuRoC dataset was used in the experiments and the proposed method was compared with some classical methods. The experimental results showed that this method has high accuracy and robustness.

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Incremental Pose Map Optimization for Monocular Vision SLAM Based on Similarity Transformation

Cited by 6 publications

References 37 publications

Pose Determination of the Disc Cutter Holder of Shield Machine Based on Monocular Vision

Pose Determination of the Disc Cutter Holder of Shield Machine Based on Monocular Vision

UAV hovering pose detection via binocular vision system based on improved SAC-IA+ICP point cloud registration

Integrated Autonomous Relative Navigation Method Based on Vision and IMU Data Fusion

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