vSLAM在无人机平台上的发展研究综述
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摘要
vSLAM(visual Simultaneous Localization and Mapping)是一种基于视觉传感器实现同时定位与建图的技术,不仅可为地面机器人提供服务,同时在无人机的定位导航中也有着非常重要的应用。对基于无人机的vSLAM发展概况进行整理研究,就其中几大关键方向的研究现状予以介绍,主要包括结合IMU、结合光流传感器的vSLAM,同时总结目前研究中仍存在的一些问题和不足之处。结合经典理论与最新研究动态,对基于无人机的vSLAM重点研究内容和未来发展方向提出了新的展望。
This paper addresses research into the application of vSLAM(visual Simultaneous Localization and Mapping)within UAVs. The research reviews related work, covering a broad set of topics including IMU-aided vSLAM and the combination optical flow sensor, and discusses their advantages and disadvantages. As a conclusion, combined with classical theory and the latest research trends, future extensions and applications are briefly discussed.
This paper addresses research into the application of vSLAM(visual Simultaneous Localization and Mapping)within UAVs. The research reviews related work, covering a broad set of topics including IMU-aided vSLAM and the combination optical flow sensor, and discusses their advantages and disadvantages. As a conclusion, combined with classical theory and the latest research trends, future extensions and applications are briefly discussed.
引文
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[19]Laidlow T,Bloesch M,Li W,et al.Dense RGB-D-inertial SLAM with map deformations[C]//2017 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS),2017:6741-6748.
[20]郭文县,高晨曦,张智,等.基于特征稀疏策略的室内机器人SLAM研究[J].计算机工程与应用,2017,53(16):110-115.
[21]王希彬,赵国荣,寇昆湖.无人机视觉SLAM算法及仿真[J].红外与激光工程,2012,41(6):1653-1658.
[22]郭润.基于无人机视觉的SLAM研究[D].浙江宁波:宁波大学,2017.
[23]秦博,王蕾.无人机发展综述[J].飞航导弹,2002(8):4-10.
[24]Jones E S,Soatto S.Visual-inertial navigation,mapping and localization:a scalable real-time causal approach[J].The International Journal of Robotics Research,2011,30(4):407-430.
[25]Bloesch M,Omari S,Hutter M,et al.Robust visual inertial odometry using a direct EKF-based approach[C]//2015 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS),2015:298-304.
[26]孙凤池,黄亚楼,康叶伟.基于视觉的移动机器人同时定位与建图研究进展[J].控制理论与应用,2010,27(4):488-494.
[27]Ito K,Xiong K.Gaussian filters for nonlinear filtering problems[J].IEEE Transactions on Automatic Control,2000,45(5):910-927.
[28]Li M,Mourikis A I.High-precision,consistent EKF-based visual-inertial odometry[J].The International Journal of Robotics Research,2013,32(6):690-711.
[29]Fink G,Franke M,Lynch A F,et al.Visual inertial SLAM:application to unmanned aerial vehicles[J].IFAC-PapersOnLine,2017,50(1):1965-1970.
[30]Aulinas J,Petillot Y,Salvi J,et al.The SLAM problem:a survey[C]//Conference on Artificial Intelligence Research and Development,2008:363-371.
[31]Kaess M,Ranganathan A,Dellaert F,et al.iSAM:fast incremental smoothing and mapping with efficient data association[C]//International Conference on Robotics and Automation,2007:1670-1677.
[32]Rublee E,Rabaud V,Konolige K,et al.ORB:an efficient alternative to SIFT or SURF[C]//International Conference on Computer Vision,2011:2564-2571.
[33]Muja M,Lowe D G.Fast approximate nearest neighbors with automatic algorithm configuration[C]//International Conference on Computer Vision Theory and Applications,2009:331-340.
[34]Mur-Artal R,Tardós J D.Visual-inertial monocular SLAMwith map reuse[J].IEEE Robotics and Automation Letters,2017,2(2):796-803.
[35]Weiss S,Siegwart R Y.Real-time metric state estimation for modular vision-inertial systems[C]//2011 IEEEInternational Conference on Robotics and Automation(ICRA 2011),Shanghai,China,2011:4531-4537.
[36]Armesto L,Tornero J,Vincze M.Fast ego-motion estimation with multi-rate fusion of inertial and vision[J].The International Journal of Robotics Research,2007,26(6):577-589.
[37]Huai J,Toth C K,Grejner-Brzezinska D A.Stereo-inertial odometry using nonlinear optimization[C]//International Technical Meeting of the Satellite Division of the Institute of Navigation,2015.
[38]Julier S J.Unscented filtering and nonlinear estimation[J].Proceedings of the IEEE,2004,92(3):401-422.
[39]Concha A,Loianno G,Kumar V,et al.Visual-inertial direct SLAM[C]//2016 IEEE International Conference on Robotics and Automation(ICRA),2016:1331-1338.
[40]Usenko V,Engel J,Stückler J,et al.Direct visual-inertial odometry with stereo cameras[C]//2016 IEEE International Conference on Robotics and Automation(ICRA),2016:1885-1892.
[41]Sun K,Mohta K,Pfrommer B,et al.Robust stereo visual inertial odometry for fast autonomous flight[J].IEEE Robotics and Automation Letters,2018,3(2):965-972.
[42]Forster C,Carlone L,Dellaert F,et al.IMU preintegration on manifold for efficient visual-inertial maximuma-posteriori estimation[Z].Georgia Institute of Technology,2015.
[43]Leutenegger S,Furgale P,Rabaud V,et al.Keyframebased visual-inertial SLAM using nonlinear optimization[C]//Proceedings of the Robotics:Science and Systems,Berlin.Piscataway:IEEE,2013:789-795.
[44]Leutenegger S,Lynen S,Bosse M,et al.Keyframe-based visual-inertial odometry using nonlinear optimization[J].International Journal of Robotics Research,2015,34(3):314-334.
[45]Kasyanov A,Engelmann F,Stückler J,et al.Keyframebased visual-inertial online SLAM with relocalization[C]//2017 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS),2017:6662-6669.
[46]Lynen S,Sattler T,Bosse M,et al.Get out of my lab:largescale,real-time visual-inertial localization[C]//Proceedings of the Robotics:Science and Systems,Rome,2015:37.
[47]Mur-Artal R,Tardós J D.Fast relocalisation and loop closing in keyframe-based SLAM[C]//Proceedings of the IEEE International Conference on Robotics and Automation,Hong Kong,China.Piscataway:IEEE,2014:846-853.
[48]张玉龙,张国山.基于关键帧的视觉惯性SLAM闭环检测算法[J].计算机科学与探索,2018,12(11):1777-1787.
[49]Zingg S,Scaramuzza D,Weiss S,et al.MAV navigation through indoor corridors using optical flow[C]//2010IEEE International Conference on Robotics and Automation(ICRA),2010:3361-3368.
[50]Andert F,Krause S.Optical aircraft navigation with multisensor SLAM and infinite depth features[C]//2017 International Conference on Unmanned Aircraft Systems(ICUAS),2017:1030-1036.
[51]Fraundorfer F,Heng L,Honegger D,et al.Vision-based autonomous mapping and exploration using a quadrotor MAV[C]//2012 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS),2012:4557-4564.
[52]郝志洋,张虹波,车进,等.改进ORB特征光流的飞行器室内导航方法[J].弹箭与制导学报,2019.
[53]Wang D,Pan Q,Zhao C,et al.SLAM-based cooperative calibration for optical sensors array with GPS/IMU aided[C]//2016 International Conference on Unmanned Aircraft Systems(ICUAS),2016:615-623.
[54]Sun Peng,Wang Xinhua,Yang Yurong.Real-time onboard mapping and localization of an indoor MAV using laser range finder[C]//2017 4th International Conference on Information Science and Control Engineering(ICISCE),2017:1612-1617.
[55]Zong L,Wang H,Wang B,et al.An improved method of real-time camera pose estimation based on descriptor tracking[C]//2017 IEEE 20th International Conference on Intelligent Transportation Systems(ITSC),2017:903-908.
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