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一种低数据传输的多机器人实时视觉SLAM
段胜青,熊智,赵耀,崔雨晨,周帅琳
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(南京航空航天大学自动化学院,南京 211106;先进飞行器导航、控制与健康管理工业和信息化部重点实验室,南京 211106)
摘要:
针对多机器人视觉SLAM在实际应用中带宽受限的问题,设计了一种低数据传输的多机器人实时视觉SLAM系统。系统中引入了NetVLAD神经网络模型,通过改进NetVLAD降低了多机器人回环检测的计算资源占用,提高了回环检测的实时性。提出了一种针对描述子缺失情况下的特征匹配算法,提高了回环检测与相对量测的鲁棒性,并提出了一种增量式多机器人位姿图共享和优化方法。最后,通过在KITTI数据集进行测试,验证了该SLAM系统能有效减少多机器人通信过程中的数据传输,具有与单机器人SLAM相当的定位精度和实时性。
关键词:  多机器人SLAM  低数据传输  改进的NetVLAD  位姿图优化
DOI:
基金项目:国家自然科学基金(61873125);江苏省自然科学基金(BK20181291);中央高校基本科研业务费专项资金(NZ2020004,NZ2019007);上海航天科技创新基金(SAST2019-085)
A Real-time Multi-robot Visual SLAM with Lower Data Transmission
DUAN Sheng-qing,XIONG Zhi,ZHAO Yao,CUI Yu-chen,ZHOU Shuai-lin
(College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China; Key Laboratory of Navigation, Guidance and Health-Management Technologies of Advanced Aerocraft, Ministry of Industry and Information Technology, Nanjing 211106, China)
Abstract:
A real-time and low-data-transmission multi-robot visual SLAM system is designed for bandwidth limited environment. This system integrates a modified NetVLAD network, which has less computing resource occupation and better real-time performance during the multi-robot loop detection. A feature matching algorithm for the absence of descriptor information is proposed to improve the robustness of loop detection and relative measurement. Moreover, an incremental multi-robot pose graph sharing and optimization method is proposed. Finally, by testing on the KITTI dataset, it is verified that the proposed system has the same positioning accuracy and real-time performance as single-robot SLAM, and can effectively reduce data transmission.
Key words:  Multi-robot SLAM  Low data transmission  Modified NetVLAD  Pose graph optimization

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