Line-Based Stereo SLAM by Junction Matching and Vanishing Point Alignment

doi:10.1109/ACCESS.2019.2960282

CORC > 自动化研究所 > 中国科学院自动化研究所 > 智能制造技术与系统研究中心 > 智能机器人团队

	Line-Based Stereo SLAM by Junction Matching and Vanishing Point Alignment
	Ma, Jiayi 3,4; Wang, Xinya 4; He, Yijia 1; Mei, Xiaoguang 4; Zhao, Ji 2
刊名	IEEE ACCESS
	2019
卷号	7 页码:181800-181811
关键词	Simultaneous localization and mapping (SLAM) line detection vanishing point visual odometry loop closure
ISSN号	2169-3536
DOI	10.1109/ACCESS.2019.2960282
通讯作者	Zhao, Ji(zhaoji84@gmail.com)
英文摘要	In this paper, we propose a stereo simultaneous localization and mapping (SLAM) method based on line segments. For the front-end module of SLAM, we designed a novel method based on the coplanar junction detection, description, and matching. Then the junctions along with their multi-scale rotated BRIEF descriptors are used in other SLAM modules, including line tracking, mapping, and loop closure. The line extraction and matching thread runs at 20 similar to 40Hz for stereo image sequences on a laptop, making it a practical front-end for line-based SLAM system. For the back-end module, a cost function is designed to minimize both of the reprojection error of line segments and alignment error of the vanishing points. The experimental results demonstrate that the proposed method exhibits more accurate localization and reconstruction than state-of-the-art line-based SLAM systems in line-rich environments.
资助项目	National Natural Science Foundation of China[61773295] ; National Natural Science Foundation of China[61903279] ; 111 Project[B17040]
WOS关键词	SEGMENT DETECTOR ; LANDMARKS
WOS研究方向	Computer Science ; Engineering ; Telecommunications
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000509486900030
资助机构	National Natural Science Foundation of China ; 111 Project
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/29489]
专题	自动化研究所_智能制造技术与系统研究中心_智能机器人团队
通讯作者	Zhao, Ji
作者单位	1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.ReadSense Ltd, Shanghai 200000, Peoples R China 3.Hubei Key Lab Adv Control & Intelligent Automat C, Wuhan 430074, Peoples R China 4.Wuhan Univ, Elect Informat Sch, Wuhan 430072, Peoples R China
推荐引用方式 GB/T 7714	Ma, Jiayi,Wang, Xinya,He, Yijia,et al. Line-Based Stereo SLAM by Junction Matching and Vanishing Point Alignment[J]. IEEE ACCESS,2019,7:181800-181811.
APA	Ma, Jiayi,Wang, Xinya,He, Yijia,Mei, Xiaoguang,&Zhao, Ji.(2019).Line-Based Stereo SLAM by Junction Matching and Vanishing Point Alignment.IEEE ACCESS,7,181800-181811.
MLA	Ma, Jiayi,et al."Line-Based Stereo SLAM by Junction Matching and Vanishing Point Alignment".IEEE ACCESS 7(2019):181800-181811.