【摘要】 同时定位和地图生成问题(SLAM)是移动机器人的一个基本问题,有着广阔的应用背景。由于视觉传感器具有成本低、信息丰富的特点,是当前SLAM问题研究的一个热点。针对视觉传感器视野小、远距离观测精度低的问题,提出了一种基于直线跟踪的单目视觉SLAM算法。该算法通过对直线特征的近距离观测和跟踪,保证了定位的精度和地图生成的效率。在Pioneer3dx机器人平台上进行的实验研究表明,该算法尤其适合于结构化环境几何地图的构建。更多还原

【Abstract】 Simultaneous localization and mapping(SLAM) is a basic problem of mobile robot.It could be applied in many areas.As the camera is low-cost and rich in information,it becomes one of the most popular issues of SLAM.According to the small-vision of the camera and low accuracy of long distance observation,the SLAM algorithm using monocular vision and lines tracking was presented.Through closely linear observation and line-feature tracking,the accuracy and efficiency were improved.Experiment results and analysis on the Pioneer3dx mobile robot platform show that,the algorithm is suitable to mapping in structure environment.更多还原