摘要
针对室内移动机器人在动态环境下不能准确估计位姿的问题,提出一种结合帧差法和背景补偿的RGBD视觉同步定位与建图方法。利用ORB方法进行特征点检测和匹配,然后利用LK光流法部分消除动态物体对全局运动估计的影响并进行背景补偿,最后使用帧差法得到动态目标,在位姿估计中去除动态目标上的特征点,加上形态学腐蚀和膨胀运算去除噪声对提取目标过程的影响。在TUM数据集下的实验表明,提出的方法可以有效提高定位精度,减少动态物体的影响。
Aiming at the problem that the indoor mobile robot cannot accurately estimate the pose in a dynamic environment, a RGBD visual synchronous positioning and mapping method combining frame difference method and background compensation was proposed. The ORB method was used for feature point detection and matching, then the LK optical flow method was used to partially remove the impact of dynamic objects on global motion estimation and to perform background compensation.Finally, the frame difference method was used to obtain the dynamic target, and the dynamic target was removed from pose estimation.The feature points, coupled with morphological erosion and dilation operations, were used to remove the effects of noise on the target extraction process. Experiments on the TUM dataset show that the proposed method can effectively improve the positioning accuracy and reduce the impact of dynamic objects.
作者
徐树
袁亮
XU Shu;YUAN Liang(College of Mechanical Engineering,Xinjiang University,Urumqi Xinjiang 830047,China)
出处
《机床与液压》
北大核心
2021年第10期1-5,共5页
Machine Tool & Hydraulics
基金
国家自然科学基金联合基金项目(U1813220)。
关键词
动态环境
帧差法
背景补偿
定位
Dynamic environment
Frame difference method
Background compensation
Localization
