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作者:

Wang, Qiuyuan (Wang, Qiuyuan.) | Yan, Zike (Yan, Zike.) | Wang, Junqiu (Wang, Junqiu.) | Xue, Fei (Xue, Fei.) | Ma, Wei (Ma, Wei.) | Zha, Hongbin (Zha, Hongbin.)

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EI Scopus SCIE

摘要:

In this article, we propose a visual simultaneous localization and mapping (SLAM) method by predicting and updating line flows that represent sequential 2-D projections of 3-D line segments. While feature-based SLAM methods have achieved excellent results, they still face problems in challenging scenes containing occlusions, blurred images, and repetitive textures. To address these problems, we leverage a line flow to encode the coherence of line segment observations of the same 3-D line along the temporal dimension, which has been neglected in prior SLAM systems. Thanks to this line flow representation, line segments in a new frame can be predicted according to their corresponding 3-D lines and their predecessors along the temporal dimension. We create, update, merge, and discard line flows on-the-fly. We model the proposed line flow based SLAM (LF-SLAM) using a Bayesian network. Extensive experimental results demonstrate that the proposed LF-SLAM method achieves state-of-the-art results due to the utilization of line flows. Specifically, LF-SLAM obtains good localization and mapping results in challenging scenes with occlusions, blurred images, and repetitive textures.

关键词:

Image segmentation Simultaneous localization and mapping Motion segmentation Feature extraction Line segment extraction and matching structure from motion (SfM) Optimization Cameras Image reconstruction simultaneous localization and mapping (SLAM)

作者机构:

  • [ 1 ] [Wang, Qiuyuan]Peking Univ, Key Lab Machine Percept, Minister Educ, Beijing 100871, Peoples R China
  • [ 2 ] [Yan, Zike]Peking Univ, Key Lab Machine Percept, Minister Educ, Beijing 100871, Peoples R China
  • [ 3 ] [Xue, Fei]Peking Univ, Key Lab Machine Percept, Minister Educ, Beijing 100871, Peoples R China
  • [ 4 ] [Zha, Hongbin]Peking Univ, Key Lab Machine Percept, Minister Educ, Beijing 100871, Peoples R China
  • [ 5 ] [Wang, Junqiu]AVIC, Beijing Changcheng Aeronaut Measurement & Control, Beijing 100176, Peoples R China
  • [ 6 ] [Ma, Wei]Beijing Univ Technol, Fac Informat Technol, Beijing 100124, Peoples R China

通讯作者信息:

  • [Zha, Hongbin]Peking Univ, Key Lab Machine Percept, Minister Educ, Beijing 100871, Peoples R China;;[Ma, Wei]Beijing Univ Technol, Fac Informat Technol, Beijing 100124, Peoples R China

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来源 :

IEEE TRANSACTIONS ON ROBOTICS

ISSN: 1552-3098

年份: 2021

期: 5

卷: 37

页码: 1416-1432

7 . 8 0 0

JCR@2022

ESI学科: ENGINEERING;

ESI高被引阀值:87

JCR分区:1

被引次数:

WoS核心集被引频次: 19

SCOPUS被引频次: 33

ESI高被引论文在榜: 0 展开所有

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