无人艇同步定位与建图技术探究
Exploration of Simultaneous Localization and Mapping Technology for Surface Unmanned Vehicles
DOI: 10.12677/AAM.2022.116434, PDF,  被引量    科研立项经费支持
作者: 于海深, 张会霞*, 陶亚东：江苏海洋大学，江苏 连云港
关键词: 水面无人艇；视觉SLAM算法；视觉惯性SLAM算法；Surface Unmanned Vehicle； Visual SLAM； Visual Inertial SLAM
摘要: 同步定位与建图技术一直以来都是无人艇导航的一个热门研究方向，通过使用相机来获得周围环境信息以及定位自身位置。本文罗列了近年来出色的视觉SLAM算法和视觉惯导SLAM算法，系统的梳理了算法的优势与不足，同时归纳了SLAM算法的最新研究进展。最后，探讨了SLAM技术的发展趋势。
Abstract: Simultaneous localization and mapping technology has been a popular research direction for un-manned boat navigation, which uses cameras to obtain information about the surrounding envi-ronment and locate its own position. This paper lists the outstanding visual SLAM algorithms and visual inertial guidance SLAM algorithms in recent years, and systematically composes the ad-vantages and shortcomings of the algorithm, and summarises the latest research progress of SLAM algorithms. Finally, the development trend of SLAM technology is discussed.
文章引用：于海深, 张会霞, 陶亚东. 无人艇同步定位与建图技术探究[J]. 应用数学进展, 2022, 11(6): 4058-4064. https://doi.org/10.12677/AAM.2022.116434

参考文献

[1] Lee, D., Kim, D., Lee, S., Myung, H. and Choi, H.-T. (2013) Experiments on Localization of an AUV Using Graph-Based SLAM. 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Jeju, 30 October-2 November 2013, 526-527. [Google Scholar] [CrossRef] 
[2] Klein, G. and Murray, D. (2007) Parallel Tracking and Mapping for Small AR Workspaces. Proceedings of the 6th IEEE/ACM International Symposium on Mixed and Augmented Reality, Nara, 13-16 November 2007, 225-234. [Google Scholar] [CrossRef] 
[3] 刘贵涛, 张雷, 徐方. 面向局部弱纹理环境的多双目视觉SLAM[J]. 组合机床与自动化加工技术, 2022(3): 116-119+125.
[4] 汪泽睿. 基于改进型词袋模型的回环检测算法研究[D]: [硕士学位论文]. 成都: 成都理工大学,2020.
[5] Engel, J., Schöps, T. and Cremers, D. (2014) LSD-SLAM: Large-Scale Direct Monocular SLAM. European Conference on Computer Vision, Zurich, 6-12 September 2014, 834-849. [Google Scholar] [CrossRef] 
[6] 李攀伟. 关于单目视觉实时定位与建图中的优化算法研究[D]: [硕士学位论文]. 深圳: 中国科学院大学(中国科学院深圳先进技术研究院), 2020.
[7] 王英格. 视觉里程计在移动增强现实中的应用研究[D]: [硕士学位论文]. 北京: 北京工业大学, 2019.
[8] Mur-Artal, R., Montiel, J.M.M. and Tardós, J.D. (2017) ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE Transactions on Robotics, 31, 1147-1163. [Google Scholar] [CrossRef] 
[9] Mur-Artal, R. and Tardós, J.D. (2017) ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras. IEEE Transactions on Robotics, 33, 1255-1262. [Google Scholar] [CrossRef] 
[10] 陶卓, 黄卫华, 章政, 姚艺, 何佳乐. 基于稀疏光流法的改进ORB特征匹配算法[J]. 组合机床与自动化加工技术, 2021(12): 1-5.
[11] 赵宇琦, 连晓峰, 谭励, 刘栋. 一种均匀抗噪自适应的ORB特征提取算法[J]. 计算机仿真, 2022, 39(4): 321-327.
[12] 秦绪佳, 陈国富, 王洋洋, 张美玉. 改进ORB特征点检测的图像拼接方法[J]. 小型微型计算机系统, 2022, 1(1): 98-102.
[13] Mourikis, A.I. and Roumeliotis, S.I. (2007) A Multi-State Constraint Kalman Filter for Vision-Aided Iner-tial Navigation. Proceedings of 2007 IEEE International Conference on Robotics & Automation, Vol. 2, Rome, 10-14 April 2007, 3565-3572. [Google Scholar] [CrossRef] 
[14] Li, M. and Mourikis, A.I. (2013) High-Precision, Consistent EKF-Based Visual-Inertial Odometry. International Journal of Robotics Research, 32, 690-711. [Google Scholar] [CrossRef] 
[15] 赵中堂, 吴庆涛. 基于多状态卡尔曼滤波的双目视觉导航设计[J]. 兵器装备工程学报, 2020, 41(6): 169-173.
[16] 王磊, 程向红, 李进, 王乐. 基于交互式多模型MSCKF 的双目视觉/惯性里程计算法[J]. 中国惯性技术学报, 2021, 29(2): 221-228+236.
[17] Leutenegger, S., Lynen, S., Bosse, M., Siegwart, R. and Furgale, P. (2015) Keyframe-Based Visual-Inertial Odometry Using Nonlinear Optimization. International Journal of Robotics Research, 34, 314-334. [Google Scholar] [CrossRef] 
[18] 刘铠铭. 基于SIFT特征的视觉惯性里程计研究与应用[D]: [硕士学位论文]. 西安: 西安科技大学, 2021.
[19] 黄坤. 基于移动平台的增强现实跟踪注册技术研究[D]: [硕士学位论文]. 无锡: 江南大学,2020.
[20] Qin, T., Li, P. and Shen. S. (2018) VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator. IEEE Transactions on Robotics, 34, 1004-1020. [Google Scholar] [CrossRef] 
[21] Qin, T. and Shen, S. (2018) Online Temporal Calibration for Monocular Visual-Inertial Systems. International Conference on Intelligent Robots and Systems, Madrid, 1-5 October 2018, 3662-3669. [Google Scholar] [CrossRef] 
[22] 徐晓苏, 吴贤. 基于IMU 预积分封闭解的单目视觉惯性里程计算法[J]. 中国惯性技术学, 2020, 28(4): 440-447.
[23] 赵恒飞, 刘妹琴, 郑荣濠. 基于改进回环检测的VINS-MONO水下SLAM算法研究[D]: [硕士学位论文]. 杭州: 浙江大学, 2021.

为你推荐