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引用次数: 0
摘要
视觉轨迹测量(VO)是根据捕捉到的图像估计摄像机运动的一项关键技术。在本文中,我们提出了一种新颖的 RGB-D 视觉里程测量法,它通过在超像素级别构建和匹配特征,与最先进的解决方案相比,在不同环境下具有更好的适应性。超像素对内容敏感,在信息聚合方面表现出色。因此,它们可以描述环境的复杂性。首先,我们设计了基于超像素的特征 SegPatch 及其相应的三维表示 MapPatch。通过使用邻近信息,SegPatch 可以在不同纹理密度的环境中稳健地表示其独特性。由于包含了深度测量,MapPatch 从结构上构建了场景。然后,定义 SegPatch 之间的距离来描述区域相似性。我们在比例空间中使用图搜索法进行搜索和匹配。因此,匹配过程的准确性和效率都得到了提高。此外,我们将匹配的 SegPatches 之间的重投影误差降至最低,并通过所有这些对应关系来估计摄像机的姿势。我们提出的 VO 在 TUM 数据集上进行了定量和定性评估,显示出在不同现实条件下适应环境的良好平衡性。
RGB-D visual odometry by constructing and matching features at superpixel level
Visual odometry (VO) is a key technology for estimating camera motion from captured images. In this paper, we propose a novel RGB-D visual odometry by constructing and matching features at the superpixel level that represents better adaptability in different environments than state-of-the-art solutions. Superpixels are content-sensitive and perform well in information aggregation. They could thus characterize the complexity of the environment. Firstly, we designed the superpixel-based feature SegPatch and its corresponding 3D representation MapPatch. By using the neighboring information, SegPatch robustly represents its distinctiveness in various environments with different texture densities. Due to the inclusion of depth measurement, the MapPatch constructs the scene structurally. Then, the distance between SegPatches is defined to characterize the regional similarity. We use the graph search method in scale space for searching and matching. As a result, the accuracy and efficiency of matching process are improved. Additionally, we minimize the reprojection error between the matched SegPatches and estimate camera poses through all these correspondences. Our proposed VO is evaluated on the TUM dataset both quantitatively and qualitatively, showing good balance to adapt to the environment under different realistic conditions.
期刊介绍:
Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.