【摘要】：提出一種基于離散選取機(jī)制的改進(jìn)特征點(diǎn)ICP算法,并設(shè)計(jì)了基于該算法的三維地圖創(chuàng)建方法.該方法分為3個(gè)階段,首先提取并匹配相機(jī)運(yùn)動(dòng)過(guò)程中采集的RGB彩色圖像中的SURF特征點(diǎn);然后結(jié)合RANSAC算法進(jìn)行初始配準(zhǔn),優(yōu)化特征點(diǎn)集初始位姿、去除誤匹配,并結(jié)合基于離散選取機(jī)制的特征點(diǎn)ICP算法進(jìn)行精確配準(zhǔn);最后利用g2o圖優(yōu)化算法結(jié)合關(guān)鍵幀實(shí)現(xiàn)對(duì)相機(jī)運(yùn)動(dòng)軌跡的優(yōu)化,減少累計(jì)誤差,并將相機(jī)采集到的點(diǎn)云數(shù)據(jù)根據(jù)相機(jī)當(dāng)前位姿構(gòu)建三維點(diǎn)云地圖.經(jīng)過(guò)在5個(gè)公開(kāi)數(shù)據(jù)集環(huán)境下進(jìn)行實(shí)驗(yàn)對(duì)比,證明本方法的可行性和有效性,在相機(jī)運(yùn)動(dòng)長(zhǎng)度為15.989m的情況下誤差僅為0.059m,且能夠準(zhǔn)確地創(chuàng)建實(shí)驗(yàn)環(huán)境的三維地圖.
[Abstract]:An improved feature point ICP algorithm based on discrete selection mechanism is proposed, and a 3D map creation method based on the algorithm is designed. The method is divided into three stages. Firstly, the SURF feature points in RGB color image collected during camera motion are extracted and matched, then the initial registration is carried out with RANSAC algorithm, the initial pose of feature point set is optimized, the mismatching is removed, and the feature point ICP algorithm based on discrete selection mechanism is used for accurate registration. Finally, the g2o graph optimization algorithm and key frame are used to optimize the camera motion trajectory, reduce the cumulative error, and the point cloud data collected by the camera is constructed according to the camera's current position and pose to construct a three-dimensional point cloud map. The feasibility and effectiveness of the method are proved by experimental comparison in five open data set environments. The error is only 0.059 m when the camera motion length is 15.989 m, and the 3D map of the experimental environment can be accurately created.
【作者單位】： 武漢工程大學(xué)計(jì)算機(jī)科學(xué)與工程學(xué)院;武漢工程大學(xué)智能機(jī)器人湖北省重點(diǎn)實(shí)驗(yàn)室;
【基金】：國(guó)家863計(jì)劃項(xiàng)目(2013AA12A202) 國(guó)家自然科學(xué)基金項(xiàng)目(41501505)
【分類(lèi)號(hào)】：TP391.41;TP242

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