RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information

作者:Di, KC (Di, Kaichang)[ 1 ] ; Zhao, Q (Zhao, Qiang)[ 1,2 ] ; Wan, WH (Wan, Wenhui)[ 1 ] ; Wang, YX (Wang, Yexin)[ 1 ] ; Gao, YJ (Gao, Yunjun)[ 1 ]

SENSORS

卷: 16  期: 8

文献号: 1285

DOI: 10.3390/s16081285

出版年: AUG 2016

摘要

In the study of SLAM problem using an RGB-D camera, depth information and visual information as two types of primary measurement data are rarely tightly coupled during refinement of camera pose estimation. In this paper, a new method of RGB-D camera SLAM is proposed based on extended bundle adjustment with integrated 2D and 3D information on the basis of a new projection model. First, the geometric relationship between the image plane coordinates and the depth values is constructed through RGB-D camera calibration. Then, 2D and 3D feature points are automatically extracted and matched between consecutive frames to build a continuous image network. Finally, extended bundle adjustment based on the new projection model, which takes both image and depth measurements into consideration, is applied to the image network for high-precision pose estimation. Field experiments show that the proposed method has a notably better performance than the traditional method, and the experimental results demonstrate the effectiveness of the proposed method in improving localization accuracy.

通讯作者地址: Wan, WH (通讯作者)

Chinese Acad Sci, Inst Remote Sensing & Digital Earth, State Key Lab Remote Sensing Sci, 20A Datun Rd, Beijing 100101, Peoples R China.

地址:

[ 1 ] Chinese Acad Sci, Inst Remote Sensing & Digital Earth, State Key Lab Remote Sensing Sci, 20A Datun Rd, Beijing 100101, Peoples R China

[ 2 ] Univ Chinese Acad Sci, Beijing 100049, Peoples R China